A method for vision-based docking of wheeled mobile robots

We present a new control law for the problem of docking a wheeled robot at a certain location with a desired heading. Research into insect navigation has inspired a solution which uses just one environment sensor: a video camera. The control law is of the "behavioral" or "reactive" type, in that no attempt is made to observe the relative pose of robot and target, all control actions are based on immediate visual information. Experiments were performed for verification of docking strategy and practical realization of some aspects of insect behavior such as locating and fixation on a target