The paper discusses a method for controlling autonomous docking tasks of a personal mobility vehicle. The authors propose a non-linear model predictive control (NMPC) based visual servoing technique, which uses input from a visual sensor for real-time feedback. This method is tested on a four-wheel electric wheelchair platform, with positive results in simulations and real-world settings. The significance of this study lies in its potential application in developing autonomous vehicle technology, particularly in enhancing the docking and navigation capabilities of personal mobility vehicles.
Publication date: 27 Dec 2023
Project Page: https://orcid.org/0000-0001-6989-8830
Paper: https://arxiv.org/pdf/2312.16629
