A Visual Servoing Docking Approach for Marsupial Robotic System

摘要：

　　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.

关键词： Marsupial Robotic system docking visual servoing image-infor virtual machine

作者: Zhao Peng Cao Zhiqiang Xu Lingyi Zhou Chao Xu De

作者单位: Institute of Automation,Chinese Academy of Sciences,Beijing,100190 Institute of Automation,Chinese Academy of Sciences,Beijing,100190;University of Science and Technol

会议类型: 国际会议

会议名称: The 33th Chinese Control Conference第33届中国控制会议

会议地点: 南京

会议语种:英文

页码: 8321-8325

在线出版日期: 2014-07-28（万方平台首次上网日期，不代表论文的发表时间）