Abstract
For docking manoeuvres, the detection of the objects to dock needs to be precise as the minimum deviation from the objective may lead to the failure of this task. The objective of this article is to test possible ways to detect a landmark using a laser rangefinder for docking manoeuvres. We will test a beacon-based localisation algorithm and an algorithm based on natural landmarks already implemented, however, we will apply modifications to such methods. To verify the possibility of docking using these methods, we will conduct experiments with a real robot.
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Acknowledgments
This work is financed by the ERDF – European Regional Development Fund through the Operational Programme for Competitiveness and Internationalisation - COMPETE 2020 Programme within project 
, and by National Funds through the FCT – Fundação para a Ciência e a Tecnologia (Portuguese Foundation for Science and Technology) as part of project UID/EEA/50014/2013.
The research leading to these results has received funding from the European Union’s Horizon 2020 - The EU Framework Programme for Research and Innovation 2014–2020, under grant agreement No. 688807.
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Ferreira, F., Sobreira, H., Veiga, G., Moreira, A. (2018). Landmark Detection for Docking Tasks. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_1
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DOI: https://doi.org/10.1007/978-3-319-70833-1_1
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