A Terminal Navigation Approach for Autonomous Docking with Transport Trolleys Using Laser Scanning

Abstract

This study presents a low-cost approach to the localization of and docking with a transport trolley task for an autonomous mobile robot. The algorithm identifies the trolley and determines the position of its legs based on predefined detection areas and data from a single LiDAR sensor, allowing navigation and docking using a mechanism that eliminates the need for precise positioning of the robot. The system consists of a mobile robot with an ESP32-based control system, using the ROS framework for real-time processing. Experimental results demonstrated successful trolley identification and docking when the robot was positioned in front of the target. The docking mechanism was validated through multiple trials, confirming feasibility in controlled conditions. This research contributes to the development of efficient, flexible automated transport systems for warehouses and manufacturing facilities.