Multisensor-based autonomous docking for UBot modular reconfigurable robot

Liu, Pijun; Zhu, Yanhe; Cui, Xindan; Wang, Xiaolu; Yan, Jihong; Zhao, Jie

doi:10.1109/icma.2012.6283240

Cited by 7 publications

(5 citation statements)

References 16 publications

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“…With the help of these units and the new target feature, the autonomous docking can be achieved with higher efficiency and accuracy. [12], reproduced with permission from Murata et al [12]; (b) Special configuration of M-TRAN used for error tolerance [12], reproduced with permission from Murata et al [12]; (c) The docking process of CKBot [11], reproduced with permission from Yim et al [11]; and, (d) The docking process of UBot [13], reproduced with permission from Liu et al [13].…”

Section: The Present Workmentioning

confidence: 99%

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SambotII: A New Self-Assembly Modular Robot Platform Based on Sambot

2018

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Featured Application: This manuscript developed a new self-assembly modular robot (SMR) system SambotII and provided a new vision-based method for efficient and accurate autonomous docking of SMRs. The present work lays a foundation for the future research of modular and swarm robots. Based on the present hardware and software platforms, complex behaviors and various tasks can be achieved on SambotII in the future, such as environment exploration, path planning, robotic swarm control, morphology control and, etc.Abstract: A new self-assembly modular robot (SMR) SambotII is developed based on SambotI, which is a previously-built hybird type SMR that is capable of autonomous movement and self-assembly. As is known, SambotI only has limited abilities of environmental perception and target recognition, because its STM-32 processor cannot handle heavy work, like image processing and path planning. To improve the computing ability, an x86 dual-core CPU is applied and a hierarchical software architecture with five layers is designed. In addition, to enhance its perception abilities, a laser-camera unit and a LED-camera unit are employed to obtain the distance and angle information, respectively, and the color-changeable LED lights are used to identify different passive docking surfaces during the docking process. Finally, the performances of SambotII are verified by docking experiments.

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Section: The Present Workmentioning

confidence: 99%

“…The vision-based methods can provide more information than IR-based method do. Some SMR systems like CKBot [11], M-TRAN [12], and UBot [13] utilize the vision-based methods in their autonomous docking process. However, these methods generally involve large-scale and complex image processing and information extraction.…”

Section: Introductionmentioning

confidence: 99%

SambotII: A New Self-Assembly Modular Robot Platform Based on Sambot

2018

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“…Especially in the same frequency band in the same area, the signal strength will be seriously affected. (3) In combination with various types of sensor for positioning and recharging, the recharging path is determined by sensing the position/orientation of the cradle by sensors, such as ultrasound, camera, infrared, etc [ 24 , 25 , 26 , 27 , 28 , 29 ]. The advantage of this method is that it can integrate the information collected by multiple sensors, and the obtained positioning accuracy is more accurate than the information collected by a single sensor.…”

Section: Introductionmentioning

confidence: 99%

High-Efficiency Automatic Recharging Mechanism for Cleaning Robot Using Multi-Sensor

Chang

Tang

et al. 2018

Sensors

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Cleaning robot has the highest penetration rate among the service robots. This paper proposes a high-efficiency mechanism for an intelligent cleaning robot automatically returns to charging in a short time when the power is insufficient. The proposed mechanism initially combines the robot’s own motor encoder with neural network linear regression to calculate the moving distance and rotation angle for the location estimation of the robot itself. At the same time, a self-rotating camera is applied to scan the number of infrared spots on the docking station to find the location of the docking station so that the cleaning robot returns to charging properly in two stages, existing infrared range and extended infrared range. In addition, six-axis acceleration and ultrasound are both applied to deal with the angle error that is caused by collision. Experimental results show that the proposed recharging mechanism significantly improves the efficiency of recharging.

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“…Hall sensors can also be used to guide docking navigation behavior. 24 Liu et al 25 developed a new sensor module for the UBot self-reconfigurable robot system, and proposed a novel precise positioning method based on multiple sensors to realize the docking between the UBot modules. r Ultrasonic sensor approach.…”

Section: Introductionmentioning

confidence: 99%

A dynamics based two-stage path model for the docking navigation of a self-assembly modular robot (Sambot)

Wei

Guan

2014

Robotica

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SUMMARYAutonomous docking is a focus of research in the field of self-assembly robots. Navigation is a significant stage in the process of autonomous docking between two robotic modules; it determines the efficiency of docking and even the success and failure of the docking task. In most cases, it is too difficult to simultaneously satisfy both linear and angular displacement constraints in a single dynamic numerical computation process. In the present paper, the navigation process is divided into two stages: first, the angular displacement constraint is satisfied, and then the linear displacement condition is fulfilled. In this way, the constraints are loosened and the difficulty of numerical computation is thereby effectively reduced. This two-stage docking navigation model is the main contribution of the present work. By taking the non-holonomic nature of the navigation behavior into consideration, both kinematic and dynamic analyses are performed, and the voltage data of the DC motors required by the two-stage docking navigation are obtained. Finally, docking navigation experiments are completed on a self-assembly modular robot named Sambot. It is verified that the present two-stage strategy is effective in controlling the docking navigation process.

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Multisensor-based autonomous docking for UBot modular reconfigurable robot

Cited by 7 publications

References 16 publications

SambotII: A New Self-Assembly Modular Robot Platform Based on Sambot

SambotII: A New Self-Assembly Modular Robot Platform Based on Sambot

High-Efficiency Automatic Recharging Mechanism for Cleaning Robot Using Multi-Sensor

A dynamics based two-stage path model for the docking navigation of a self-assembly modular robot (Sambot)

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