NDLI: Vision-Based Autonomous Robot Self-Docking and Recharging

Content Provider	IEEE Xplore Digital Library
Author	Kartoun, U. Stern, H. Edan, Y. Feied, C. Handler, J. Smith, M. Gillam, M.
Copyright Year	2006
Description	Author affiliation: Ben-Gurion Univ. of the Negev, Beer-Sheva (Kartoun, U.; Stern, H.; Edan, Y.)
Abstract	This paper presents a method for autonomous recharging of a mobile robot, a necessity for achieving long-term robotic activity without human intervention. A recharging station is designed consisting of a stationary docking station and a docking mechanism mounted to an ER-1 Evolution Robotics robot. The docking station and docking mechanism serve as a dual-power source, providing a mechanical and electrical connection between the recharging system of the robot and a laptop placed on it. Docking strategy algorithms use vision based navigation. The result is a significantly low-cost, high-entrance angle tolerant system. Iterative improvements to the system, to resist environmental perturbations and implement obstacle avoidance, ultimately resulted in a docking success rate of 100 percent over 50 trials.
Starting Page	1
Ending Page	8
File Size	5199501
Page Count	8
File Format	PDF
ISBN	1889335339
DOI	10.1109/WAC.2006.375987
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2006-07-24
Publisher Place	Hungary
Access Restriction	Subscribed
Rights Holder	TSI Press
Subject Keyword	Robot vision systems Mobile robots Hospitals Navigation Humans Robot control Infrared detectors Robotic assembly Robotics and automation Switches machine vision Robotic mechanisms robot control autonomous navigation
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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