A Visual Servoing Docking Approach for Marsupial Robotic System
This paper presents a visual servoing docking approach for marsupial robotic system.A vertical V-shaped visual benchmark is designed to guide the docking motion of a child robot with the feedback of image features.By changing the angular of the camera with a rotational DOF,the child robot adjusts its heading orientation for docking.The task is modeled into six states: Blind,Adistance,Atangent,Around,Aiming,and Parking states.The transform conditions among the states are also given.To verify the approach,a simulation platform is designed,including an image-infor virtual machine,a decision-making unit and a pose refresher.The simulation results verify the presented docking approach.
Marsupial Robotic system docking visual servoing image-infor virtual machine
Zhao Peng Cao Zhiqiang Xu Lingyi Zhou Chao Xu De
Institute of Automation,Chinese Academy of Sciences,Beijing,100190 Institute of Automation,Chinese Academy of Sciences,Beijing,100190;University of Science and Technol
国际会议
The 33th Chinese Control Conference第33届中国控制会议
南京
英文
8321-8325
2014-07-28(万方平台首次上网日期,不代表论文的发表时间)