Development of Docking System for Mobile Robots Using Cheap Infrared Sensors

More and more researches on household mobile robots are being undertaken these days. Since commercial cleaning robots are now available for sale to the public, robots are being used in private homes. As the quality of household robots improves, docking stations, which have a variety of uses, including as automatic recharging ports, have become increasingly important. Generally in household robots, cheap infrared sensors are adopted as part of a homing system that is utilized in conjunction with a docking station, enabling the robot to approach and enter the dock successfully. However, systems that use cheap sensors cannot reach their full potential unless they also have a relatively accurate docking system. In this paper, we propose a homing system that utilizes cheap infrared sensors but that can operate in a broad region, and we suggest a passive docking mechanism that can compensate for docking errors. Experimental results using the proposed system show that the robot is able to home in at a radius of up to 2 m around the docking station. Also, the docking mechanism is able to compensate for an offset error of ±5 cm and an angle error of ±30°, and the probability of docking successfully on the first attempt is over 95%.