文档介绍：Vision-Based Autonomous Robot Self-Docking and Recharging
Uri Kartoun, Ben-Gurion University of the Negev, Israel, ******@
Helman Stern, Ben-Gurion University of the Negev, Israel, ******@
Yael Edan, Ben-Gurion University of the Negev, Israel, ******@
Craig Feied, Washington Hospital Center, ., cfeied@
Jonathan Handler, Washington Hospital Center, ., ******@
Mark Smith, Washington Hospital Center, ., msmith@
Michael Gillam, Washington Hospital Center, ., gillam@
ABSTRACT
This paper presents a method for autonomous recharging of a mobile robot, a necessity for
achieving long-term robotic activity without human intervention. A recharging station is designed
consisting of a stationary docking station and a docking mechanism mounted to an ER-1
Evolution Robotics robot. The docking station and docking mechanism serve as a dual-power
source, providing a mechanical and electrical connection between the recharging system of the
robot and a laptop placed on it. Docking strategy algorithms use vision based navigation. The
result is a significantly low-cost, high-entrance angle tolerant system. Iterative improvements to
the system, to resist environmental perturbations and implement obstacle avoidance, ultimately
resulted in a docking ess rate of 100 percent over 50 trials.