Year: 2026
Type: article
Abstract: Existing docking methods for mobile robots rely on a LiDAR sensor or image processing using a camera. Although both demonstrate excellent performance in terms of sensing distance and spatial resolution, they are sensitive to environmental effects, such as illumination and occlusion, and are expensive. Some environments or conditions require low-power, low-cost novel docking solutions that are less sensitive to the environment. In this study, we propose a guidance and navigation solution for a mobile robot to dock into a docking station using the values of the angle of arrival and received signal strength indicator between the mobile robot and the docking station, measured via wireless communication based on Bluetooth low energy (BLE). This proposed algorithm is a LiDAR- and camera-free docking solution. The proposed algorithm is used to run an actual mobile robot and BLE transceiver hardware, and the obtained result is significantly close to the ground truth for docking.
Source: Electronics
Author: Kyuman Lee
Institution: Kyungpook National University
Language: English
Subfield: Electrical and Electronic Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $2,896
Funder: Ministry of Education, India
OpenAlex ID: W7125591839