DocumentCode :
1576610
Title :
An autonomous docking method based on ultrasonic sensors for self-reconfigurable mobile robot
Author :
Wang, Wei ; Li, Zongliang ; Yu, Wenpeng ; Zhang, Jianwei
Author_Institution :
Robot. Inst. of Beihang Univ., Beijing, China
fYear :
2009
Firstpage :
1744
Lastpage :
1749
Abstract :
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.
Keywords :
mobile robots; position measurement; ultrasonic transducers; autonomous docking method; self-reconfigurable mobile robot; triangle localization arithmetic; ultrasonic sensors; Arithmetic; Biosensors; Cities and towns; Control systems; Lattices; Mobile robots; Position measurement; Robot sensing systems; Sensor systems; Ultrasonic variables measurement;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2009 IEEE International Conference on
Conference_Location :
Guilin
Print_ISBN :
978-1-4244-4774-9
Electronic_ISBN :
978-1-4244-4775-6
Type :
conf
DOI :
10.1109/ROBIO.2009.5420436
Filename :
5420436
Link To Document :
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