An Autonomous Docking Method Based on Ultrasonic Sensors for Self-reconfigurable Mobile Robot

摘要：

Autonomous docking is an essential capability for self-reconfigurable robots. In this paper, a measurement system based on ultrasonic sensors for measuring distance between two mobile modules is firstly introduced. Then, triangle localization arithmetic for measuring the relative position/orientation between two mobile modules to implement docking is analyzed. Considering inherent drawbacks of triangle localization arithmetic by experiments, a novel arithmetic of centering alignment based on the concept that the received ultrasonic signal intensity should be balanced when the two modules are centered and faced each other is proposed, and involved parameters are discussed and optimized. Following experiments indicate that the centering alignment arithmetic is high-efficiency and good-reliability and can implement the docking of JL-2 modules accurately. The centering alignment arithmetic proposed in this paper can be generally applied to other planar docking process.

作者: Wei Wang Zongliang Li Wenpeng Yu Jianwei Zhang

作者单位: Robotics Institute of Beihang University,37＃ Xueyuan Road,Haidian,City Beijing,China TAMS,Department of Computer Science,University of Hamburg,Vogt-Koelln-Strasse 30,22527,Hamburg,Germa

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 1744-1749

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）