autonomous docking

Problem definition of wheelchair docking: Case 1 is the case of docking to a pose that faces to the object, and case 2 is the case of docking to the side of the object.

This works (Chen et al., 2021) proposes an autonomous docking support approach for assistive mobility devices like intelligent wheelchairs to assists the user in approaching a rest surface, such as a chair or bed. A virtual landmark estimation method was proposed to extract the target pose from a chair through point cloud processing without any additional landmark. A stable nonlinear feedback controller is designed for the pose alignment task under the constraint of camera’s field of view (FOV). The effectiveness of the proposed system was demonstrated with a real-time implementation on a standing mobility vehicle.

Keywords: virtual landmark estimation, nonlinear controller, stability
Skills: Python, C++, ROS, kinematics, MATLAB, PCL

Reference

Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices

Yang Chen, Diego F. Paez-Granados, Bruno Leme, and 1 more author

IEEE/ASME Transactions on Mechatronics 2021

Bib HTML PDF

@article{docking,
  author = {Chen, Yang and Paez-Granados, Diego F. and Leme, Bruno and Suzuki, Kenji},
  journal = {IEEE/ASME Transactions on Mechatronics},
  title = {Virtual Landmark-Based Control of Docking Support for Assistive Mobility Devices},
  year = {2021},
  volume = {26},
  number = {4},
  pages = {2007-2015},
  doi = {10.1109/TMECH.2021.3081426},
}