Example of a sensor reading.
Example of a sensor reading.
Results obtained with the docking phase are shown graphicaly in the picture below where a scaled version of the environment, the Robuter mobile platform and the docking station are represented. Ten different experiments were carried out. In all of them, the sensorial system was able to localise the platform relative to the docking station and therefore no approach phase was required. The arrows represent the location and orientation of the mobile platform at the beginning of the docking phase. The first iteration drives the platform to a position within the represented ellipses, with the represented associated orientation. After the second iteration the robot's position lies within a 1cm diameter circle around the docking point and the orientation error is less than 1 degree. The displayed results show a good performance both in position and in orientation.
Experimental results.
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