Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot
Joint Authors
Huang, Panfeng
Chen, Lu
Zhang, Bin
Meng, Zhongjie
Liu, Zhengxiong
Source
International Journal of Aerospace Engineering
Issue
Vol. 2017, Issue 2017 (31 Dec. 2017), pp.1-11, 11 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2017-02-13
Country of Publication
Egypt
No. of Pages
11
Abstract EN
In the ultra-close approaching phase of tethered space robot, a highly stable self-attitude control is essential.
However, due to the field of view limitation of cameras, typical point features are difficult to extract, where commonly adopted position-based visual servoing cannot be valid anymore.
To provide robot’s relative position and attitude with the target, we propose a monocular visual servoing control method using only the edge lines of satellite brackets.
Firstly, real time detection of edge lines is achieved based on image gradient and region growing.
Then, we build an edge line based model to estimate the relative position and attitude between the robot and the target.
Finally, we design a visual servoing controller combined with PD controller.
Experimental results demonstrate that our algorithm can extract edge lines stably and adjust the robot’s attitude to satisfy the grasping requirements.
American Psychological Association (APA)
Huang, Panfeng& Chen, Lu& Zhang, Bin& Meng, Zhongjie& Liu, Zhengxiong. 2017. Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot. International Journal of Aerospace Engineering،Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1157958
Modern Language Association (MLA)
Huang, Panfeng…[et al.]. Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot. International Journal of Aerospace Engineering No. 2017 (2017), pp.1-11.
https://search.emarefa.net/detail/BIM-1157958
American Medical Association (AMA)
Huang, Panfeng& Chen, Lu& Zhang, Bin& Meng, Zhongjie& Liu, Zhengxiong. Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot. International Journal of Aerospace Engineering. 2017. Vol. 2017, no. 2017, pp.1-11.
https://search.emarefa.net/detail/BIM-1157958
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1157958