An autonomous docking method based on ultrasonic sensors for self-reconfigurable mobile robot

2009 ◽  
Author(s):  
Wei Wang ◽  
Zongliang Li ◽  
Wenpeng Yu ◽  
Jianwei Zhang
Keyword(s):  
Mobile Robot ◽  
Ultrasonic Sensors ◽  
Docking Method ◽  
Autonomous Docking

An Image-based Docking Method for Mobile Robot

ROBOT ◽  
2010 ◽  
Vol 32 (2) ◽  
pp. 166-170
Author(s):  
Fengdong CHEN ◽  
Bingrong HONG
Keyword(s):  
Mobile Robot ◽  
Docking Method

scholarly journals Calibration of ultrasonic sensors of a mobile robot

2009 ◽  
Vol 6 (3) ◽  
pp. 427-437 ◽  
Author(s):  
Ivan Paunovic ◽  
Darko Todorovic ◽  
Miroslav Bozic ◽  
Goran Djordjevic
Keyword(s):  
Signal Processing ◽  
Mobile Robot ◽  
Calibration Procedure ◽  
Ultrasonic Sensor ◽  
Robot Localization ◽  
Ultrasonic Sensors ◽  
Nonlinear Characteristics ◽  
Mobile Robot Localization

The paper discusses a mobile robot localization. Due to cost and simplicity of signal processing, the ultrasonic sensors are very suitable for this application. However, their nonlinear characteristics requires thorough calibrating procedure in order to achieve reliable readings from the obstacles around the robot. Here we describe SMR400 ultrasonic sensor and its calibration procedure. The suggested calibration procedure was tested through a number of experiments, and the results are presented in this paper. .

A Novel Autonomous Docking Method of Unmanned Marine Vehicle Based on Manipulator

2013 ◽  
Vol 364 ◽  
pp. 370-374
Author(s):  
Jin Lei Chen ◽  
Yuan Dai ◽  
Zhong Qiang Zheng ◽  
Zong Yu Chang ◽  
Wen Dai ◽  
...  
Keyword(s):  
Data Exchange ◽  
Autonomous Underwater Vehicles ◽  
Underwater Vehicles ◽  
Kinematics Analysis ◽  
Marine Vehicles ◽  
Docking Method ◽  
Stability And Accuracy ◽  
Marine Vehicle ◽  
Limited Duration ◽  
Autonomous Docking

To extend underwater duration is an important issue for autonomous underwater vehicles. Limited duration restricts the working ability of an unmanned marine vehicle (UMV) and needs frequent surface support. One of the solutions to this problem is docking that can implement functions as recharging, data exchange, maintaining and so on. A novel docking method based on manipulator assistance is carried out. In this method, a fixed handle near docking port is caught by the manipulator on the vehicle firstly. The manipulator can be controlled to obtain the vehicles body a suitable position and orientation for autonomous docking. The manipulator with floating based can be looked on as one serial manipulator with a fixed anchor. The kinematics analysis is given by using the MATLAB and ADAMS. The simulation results suggest that docking method has more stability and accuracy, and it can also reduce the collision between docking port and the vehicle. The method provides a conception of docking process between all kinds of unman marine vehicles and docking ports.

A Survey of Mobile Robot Navigation Methods Using Ultrasonic Sensors

Robotics 98 ◽  
1998 ◽  
Author(s):  
Daniel P. Stormont ◽  
Chaouki T. Abdallah ◽  
Raymond H. Byrne ◽  
Gregory L. Heileman
Keyword(s):  
Mobile Robot ◽  
Robot Navigation ◽  
Mobile Robot Navigation ◽  
Ultrasonic Sensors

scholarly journals AutoDock-IPS: An Automated Docking for Mobile Robot Based on Indoor Positioning System

2021 ◽  
Vol 5 (1) ◽  
pp. 32-39
Author(s):  
Dimas Aditya Putra Wardhana ◽  
Dedid Cahya Happyanto ◽  
Era Purwanto ◽  
Gilang Ekavigo Astafil Akbar ◽  
Karisma Trinanda Putra
Keyword(s):  
Mobile Robot ◽  
Indoor Positioning ◽  
Positioning System ◽  
Human Errors ◽  
Docking Method ◽  
Automatic Docking ◽  
Automated Docking ◽  
Charging Stations ◽  
Indoor Positioning System ◽  
Computerized System

Mobile robots are proven to be reliable in supporting the human tasks by using a computerized system that minimizes human errors. However, recharging the battery in these robots is still performed manually by the user. Therefore, to extend their lifetime, an indoor automatic docking system ‘AutoDock-IPS’ is created for mobile robot to charge its battery automatically. The automatic docking system determines the location of the docks (i.e., charging stations) so that, prototype can immediately navigate to them. Experiments were carried out to validate the docking method by utilizing a compass module as a direction sensor and a rotary encoder as a displacement indicator. These sensors are combined into a robust indoor positioning system. The results show that the prototype can find the fastest route to the docking station to perform battery charging procedure.

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