Docking of a mobile platform based on infrared sensors

Author

Vaz, P. Mira ; Ferreira, R. ; Grossmann, V. ; Ribeiro, M.I.

Author_Institution

Inst. Superior Tecnico, Lisbon, Portugal

Volume

2

fYear

1997

fDate

7-11 Jul 1997

Firstpage

735

Abstract

This paper presents a sensor based docking strategy for a nonholonomic mobile platform used to support material transportation operations in industrial like environments. A low cost infrared sensor system was designed and implemented, aiming at locating the mobile platform relative to the docking station where passive reflectors are installed. With this information, trajectories are generated and followed, docking the platform with a good accuracy (around ±0.5 cm in x and y, and ±1° in θ) considering that the system was designed based on low cost sensors. The paper presents relevant experimental results

Keywords

infrared detectors; materials handling; mobile robots; position control; industrial like environments; infrared sensors; material transportation operations; mobile platform docking; mobile robots; nonholonomic mobile platform; passive reflectors; Costs; Infrared detectors; Infrared sensors; Mobile robots; Navigation; Sensor systems; Signal processing algorithms; Space exploration; Transportation; Vehicle driving;

fLanguage

English

Publisher

ieee

Conference_Titel

Industrial Electronics, 1997. ISIE '97., Proceedings of the IEEE International Symposium on

Conference_Location

Guimaraes

Print_ISBN

0-7803-3936-3

Type

conf

DOI

10.1109/ISIE.1997.649089

Filename

649089