TY - GEN
T1 - An autonomous docking method based on ultrasonic sensors for self-reconfigurable mobile robot
AU - Wang, Wei
AU - Li, Zongliang
AU - Yu, Wenpeng
AU - Zhang, Jianwei
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
UR - https://www.scopus.com/pages/publications/77951473302
U2 - 10.1109/ROBIO.2009.5420436
DO - 10.1109/ROBIO.2009.5420436
M3 - 会议稿件
AN - SCOPUS:77951473302
SN - 9781424447756
T3 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
SP - 1744
EP - 1749
BT - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
T2 - 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Y2 - 19 December 2009 through 23 December 2009
ER -