Vision-based autonomous robot self-docking and recharging

Uri Kartoun, Helman Stern, Yael Edan, Craig Feied, Jonathan Handler, Mark Smith, Michael Gillam

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

24 Scopus citations


This paper presents a method for autonomous recharging of a mobile robot, a necessity for achieving long-term robotic activity without human intervention. A recharging station is designed consisting of a stationary docking station and a docking mechanism mounted to an ER-1 Evolution Robotics robot. The docking station and docking mechanism serve as a dual-power source, providing a mechanical and electrical connection between the recharging system of the robot and a laptop placed on it, Docking strategy algorithms use vision based navigation. The result is a significantly low-cost, high-entrance angle tolerant system. Iterative improvements to the system, to resist environmental perturbations and implement obstacle avoidance, ultimately resulted in a docking success rate of 100 percent over 50 trials. Copyright - World Automation Congress (WAC) 2006,.

Original languageEnglish
Title of host publication2006 World Automation Congress, WAC'06
PublisherIEEE Computer Society
ISBN (Print)1889335339, 9781889335339
StatePublished - 1 Jan 2006
Event2006 World Automation Congress, WAC'06 - Budapest, Hungary
Duration: 24 Jun 200626 Jun 2006

Publication series

Name2006 World Automation Congress, WAC'06


Conference2006 World Automation Congress, WAC'06


  • Autonomous navigation
  • Machine vision
  • Robot control
  • Robotic mechanisms

ASJC Scopus subject areas

  • Control and Systems Engineering


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