Analysis of a novel docking technique for autonomous robots

Abstract

Autonomous robot docking requires accurate path following and ultimately, accurate alignment with the target location, typically a docking station. In this paper we develop a novel, partially heuristic, technique that allows accurate docking for Ackerman-steered vehicles. The technique is validated via simulation. Multiple experiments were performed to better understand and analyze the heuristic element of the technique. The results underscore the impact of the vehicle's steering characteristics in docking precision and may prove valuable in attempting to remove the heuristic element.