Automatic precision docking for autonomous mobile robot in hospital logistics - case-study: battery charging

Abstract

Abstract Autonomous Mobile Robots (AMRs) plays a vital role in various logistic applications, especially in the health industry. Precise localization is required for automated navigation of the robot throughout the operations. Docking is one of the key processes that the robot moves and physically attaches to the station. Higher precision in position and orientation is required for this process to ensure the secured connection. This article presents an implementation of precise docking maker technique for localization of the robot. The robot is equipped with affordable Lidar sensor while a geometrical marker is on the docking station. The proposed method should help the robot achieve better than ±20 mm error and 0.05rad error in position and orientation.