Automatic Docking and Charging of Mobile Robot Based on Laser Measurement

摘要

In order to improve the autonomy of automatic charging and docking of service robots, this paper proposes an automatic docking architecture based on lidar sensors. Firstly, a method for identifying features of docking station based on laser sensors is proposed; Then, use the laser scanning data information and combine the odometer information to perform particle filter positioning, and then estimate the current pose of the robot, and finally determine the relative coordinate relationship between the robot and the docking station; Finally, a multi-state staged stabilization control method is proposed, which divides different characteristic states according to the angle deviation and distance deviation of the robot relative to the docking station, and designs corresponding control laws for the different characteristic states of the robot, and then according to different control states drive the robot to efficiently and accurately dock the docking station. Experimental results validated the proposed techniques.