Naslov
Autonomous docking of a tracked wheels robot to its tether cable using a vision-based algorithm

Autori
Fausto, Ferreira ; Ventura, Rodrigo

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Workshop on Robotics for Disaster Response ; Proceedings of the IEEE International Conference on Robotics and Automation (ICRA'09) / - , 2009, 415-422

Skup
IEEE International Conference on Robotics and Automation (ICRA'09)

Mjesto i datum
Kobe, Japan, 13.05.2009

Vrsta sudjelovanja
Radionica

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Search and Rescue Robotics, Autonomous Docking, Vision based control

Sažetak
Search and Rescue (SAR) Robotics has been gaining an increasing interest in recent years. In spite of that, there are still many challenges to be addressed in terms of autonomy level. RAPOSA is a semi-autonomous, tracked wheels robot, designed for SAR operations. This paper presents an autonomous docking algorithm. The docking is performed to a docking station that provides both power and a wireless access point. The docking station consists on a small, lightweight pyramidal structure at the end of a flexible cable, allowing the robot to continue operating while attached to this cable. The autonomous docking is mainly based on both vision, whenever possible, and dead reckoning (odometry) that was also developed specially for this work. The results show the effectiveness of the proposed algorithm, even in the presence of difficult environmental conditions.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo

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