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Docking of a mobile platform based on infrared sensors

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4 Author(s)
Vaz, P.M. ; Inst. Superior Tecnico, Lisbon, Portugal ; Ferreira, R. ; Grossmann, V. ; Ribeiro, M.I.

This paper presents a sensor based docking strategy for a nonholonomic mobile platform used to support material transportation operations in industrial like environments. A low cost infrared sensor system was designed and implemented, aiming at locating the mobile platform relative to the docking station where passive reflectors are installed. With this information, trajectories are generated and followed, docking the platform with a good accuracy (around ±0.5 cm in x and y, and ±1° in θ) considering that the system was designed based on low cost sensors. The paper presents relevant experimental results

Published in:

Industrial Electronics, 1997. ISIE '97., Proceedings of the IEEE International Symposium on  (Volume:2 )

Date of Conference:

7-11 Jul 1997