FiMa-Reader: A Cost-Effective Fiducial Marker Reader System for Autonomous Mobile Robot Docking in Manufacturing Environments

Accurately docking mobile robots to various workstations on the factory floor is a common and essential task. The existing docking methods face three major challenges: intricate deployment procedures, susceptibility to ambient lighting, and incapacity to recognize product information during the docking process. This paper devises a novel approach that combines the features of ArUco and Data Matrix to form a composite marker termed “DataMatrix-ArUco-Hybrid” (DAH). The DAH pattern serves as a fiducial marker capable of concurrently providing both target pose information and product information. Detection of the DAH pattern is conducted by a cost-effective fiducial marker reader system, called “FiMa-Reader”, which comprises an embedded processing unit and an infrared camera equipped with a 940 nm fill-light to overcome lighting issues. The FiMa-Reader system effectively detects the DAH pattern under both well-lit and dimly lit conditions. Additionally, the implementation of the FiMa-Reader system leads to significant improvements in positioning accuracy, including an 86.42% improvement on the x-axis, a 44.7% improvement on the y-axis, and an 84.21% improvement in angular orientation when compared to traditional navigation methods. The utilization of FiMa-Reader presents an economically viable system capable of guiding mobile robots’ positioning with high precision in various indoor lighting conditions.