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The purpose of this work is the development of a docking method for an off-road mobile robot. The goal is the accurate determination of the robot pose relative to the docking station, in order to control the robot during the docking.
The first approach will rely on a QR code positioned at a known position on the docking station and its observation by a robot camera.
Then we will aim to exploit the joint presence of more than one QR code, jointly observed by the robot camera.
The last step, if time will allow, will be to evaluate pose of the robot w.r.t. the docking station without QR codes, but exploiting the 3D model of the docking station and the point cloud observed from the robot 3D camera.