A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION
文献类型：期刊论文
| 作者 | Peng, Zhao1; Cao Zhiqiang1 ; Nong, Gu2; Chao, Zhou1; De, Xu1; Min, Tan1
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| 刊名 | INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION
 |
| 出版日期 | 2016 |
| 卷号 | 31期号:1页码:52-62 |
| 关键词 | Marsupial robotic system coordinated docking embedded vision lifting docking station |
| 英文摘要 | Docking is an essential yet challenging problem to the deployment of marsupial robotic system involving a mother robot and several child robots, as the technologies such as rail-line tracking and global vision measurement are not suitable for applications in unknown environments. This chapter presents a coordinated docking approach based on embedded vision of the child robot collaborated by the mother robot with an innovative lifting docking station. The child robot utilizes a complementary metal oxide semiconductor (CMOS) camera to capture and extract image features related to a benchmark attached on the docking station, and the internal correlation between its heading direction and the entry direction of docking station is then derived, which makes the docking process be concise and convenient. On this basis, a coordinated docking task model is built and the transition conditions among task states are presented. The precision analysis of the docking is also discussed. The experimental results prove the effectiveness of the proposed approach. |
| WOS标题词 | Science & Technology ; Technology |
| 类目[WOS] | Automation & Control Systems ; Robotics |
| 研究领域[WOS] | Automation & Control Systems ; Robotics |
| 关键词[WOS] | ROBOT ; DESIGN ; TEAM |
| 收录类别 | SCI |
| 语种 | 英语 |
| WOS记录号 | WOS:000371511300007 |
| 源URL | [http://ir.ia.ac.cn/handle/173211/11034]  |
| 专题 | 自动化研究所_复杂系统管理与控制国家重点实验室_先进机器人控制团队 |
| 作者单位 | 1.Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China 2.Deakin Univ, Ctr Intelligent Syst Res, Waurn Ponds, Vic, Australia |
| 推荐引用方式 GB/T 7714 | Peng, Zhao,Cao Zhiqiang,Nong, Gu,et al. A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION[J]. INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,2016,31(1):52-62. |
| APA | Peng, Zhao,Cao Zhiqiang,Nong, Gu,Chao, Zhou,De, Xu,&Min, Tan.(2016).A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION.INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION,31(1),52-62. |
| MLA | Peng, Zhao,et al."A COORDINATED DOCKING APPROACH BASED ON EMBEDDED VISION".INTERNATIONAL JOURNAL OF ROBOTICS & AUTOMATION 31.1(2016):52-62. |
入库方式： OAI收割
来源：自动化研究所
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