Plugin-docking system for autonomous charging using particle filter

Hiroshi Koyasu; Masayoshi Wada

doi:10.1117/12.2266974

14 May 2017 Plugin-docking system for autonomous charging using particle filter

Hiroshi Koyasu, Masayoshi Wada

Proceedings Volume 10338, Thirteenth International Conference on Quality Control by Artificial Vision 2017; 1033819 (2017) https://doi.org/10.1117/12.2266974
Event: The International Conference on Quality Control by Artificial Vision 2017, 2017, Tokyo, Japan

Abstract

Autonomous charging of the robot battery is one of the key functions for the sake of expanding working areas of the robots. To realize it, most of existing systems use custom docking stations or artificial markers. By the other words, they can only charge on a few specific outlets. If the limit can be removed, working areas of the robots significantly expands. In this paper, we describe a plugin-docking system for the autonomous charging, which does not require any custom docking stations or artificial markers. A single camera is used for recognizing the 3D position of an outlet socket. A particle filter-based image tracking algorithm which is robust to the illumination change is applied. The algorithm is implemented on a robot with an omnidirectional moving system. The experimental results show the effectiveness of our system.

Citation Download Citation

Hiroshi Koyasu and Masayoshi Wada "Plugin-docking system for autonomous charging using particle filter", Proc. SPIE 10338, Thirteenth International Conference on Quality Control by Artificial Vision 2017, 1033819 (14 May 2017); https://doi.org/10.1117/12.2266974

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