This work proposes an autonomous docking control for nonholonomic constrained mobile robots and applies it to an intelligent mobility device or wheelchair for assisting the user in approaching resting furniture such as a chair or a bed. We defined a virtual landmark inferred from the target docking destination. Then, we solve the problem of keeping the targeted volume inside the field of view (FOV) of a tracking camera and docking to the virtual landmark through a novel definition that enables to control for the desired end-pose. In this article, we proposed a nonlinear feedback controller to perform the docking with the depth camera's FOV as a constraint. Then, a numerical method is proposed to find the feasible space of initial states where convergence could be guaranteed. Finally, the entire system was embedded for real-time operation on a standing wheelchair with the virtual landmark estimation by 3D object tracking with an RGB-D camera and we validated the effectiveness in simulation and experimental evaluations. The results show the guaranteed convergence for the feasible space depending on the virtual landmark location. In the implementation, the robot converges to the virtual landmark while respecting the FOV constraints.

翻译：这项工作提议对非光力缩放的移动机器人实行自动对接控制,并将其应用于智能移动装置或轮椅,以协助用户接近椅子或床等休息家具。我们从目标对接目的地推断出一个虚拟里程碑。然后,我们通过一个能够控制理想最终位置的新定义,解决了将跟踪相机的定标体积保留在视野内(FOV)和对准虚拟里程碑内的问题。在这个文章中,我们提议用一个非线性反馈控制器对接深层相机的FOV作为制约。然后,提出一个数字方法,以寻找可以保证汇合的初始状态的可行空间。最后,整个系统是安装在3D物体跟踪的虚拟定点估计的固定轮椅上实时操作,我们验证了模拟和实验评估的有效性。结果显示,视虚拟标志位置的位置,可行的空间有保证汇合。在实施过程中,机器人在尊重FOV限制的同时,与虚拟标志相交汇。