Low-order-complexity vision-based docking
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This paper reports on a reactive docking behavior which uses a vision algorithm that grows linearly with the number of image pixels. The docking robot imprints (initializes) on a two-colored docking fiducial upon departing from the dock, then uses region statistics to adapt the color segmentation in changing lighting conditions. The docking behavior was implemented on a marsupial team of robots, where a daughter micro-rover had to reenter the mother robot from an approach zone with a 2-m radius and 140° angular width with a tolerance of ±5° and ±2 cm. Testing during outdoor conditions (noon, dusk) and challenging indoor scenarios (flashing lights) showed that using adaptation and imprinting was more robust than using imprinting alone.
author list (cited authors)
Minten, B. W., Murphy, R. R., Hyams, J., & Micire, M.