Fiducials on docking station
Very often my robot has problems docking, as I mostly have carpets.
I do see very weird behaviour, where "he" gets very close many times, and then goes off on a mission elsewhere in the room and ends up nowhere near the dock with a flat battery.
This raises the question, if he has seen the dock with 100% certainty, why did he do that. I wondering if he "he" wasn't 100% certain it wasn't the dock, and perhaps having something totally unique like stick on fiducials a fixed distance apart may help. It would also help its final push onto the dock if it had the fiducials aligned before it did it's forward move.
Does the robot know what the docks looks like, or does it work from a map?