Object Servoing of Differential-Drive Robots
This work addresses a specific problem in robotics for last-mile delivery applications, but it appears incremental as it builds on existing servoing and control methods.
The paper tackles the challenge of designing an object servoing scheme for differential-drive robots to asymptotically park at a predefined relative pose to a movable object, and experimental results validate the performance of the proposed scheme.
Due to possibly changing pose of a movable object and nonholonomic constraint of a differential-drive robot, it is challenging to design an object servoing scheme for the differential-drive robot to asymptotically park at a predefined relative pose to the movable object. In this paper, a novel object servoing scheme is designed for the differential-drive robots. Each on-line relative pose is first estimated by using feature points of the moveable object and it serves as the input of an object servoing friendly parking controller. The linear velocity and angular velocity are then determined by the parking controller. Experimental results validate the performance of the proposed object servoing scheme. Due to its low on-line computational cost, the proposed scheme can be applied for last mile delivery of differential-drive robots to movable objects.