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Differential Drive Mobile Robot Docking Algorithm Using WhyCon Markers

Peter Pásztó, Marian KĬŭčik, Jakub Lenner


This paper describes a differential drive mobile robot’s docking algorithm development. The algorithm is based on visual detection of two WhyCon Markers placed longitudinal to each other. The robot navigation to docking position (determined by its final rotation and perpendicular distance from the docking ray) consists of two steps: navigation from initial position on the docking ray and navigation to the final docking position with P-regulator correcting the offset from the docking vector which is given by the markers. Finally the docking algorithm was experimentally verified on a real mobile robotic platform with different initial positions of the robot towards the model of the docking station. The proposed docking algorithm and all of its parts are ROS compatible.


docking, WhyCon markers, ROS.

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