Autonomous rendezvous and robotic capturing of non-cooperative target in space

  • Authors:

  • Wenfu Xu;Bin Liang;Cheng Li;Yangsheng Xu

  • Affiliations:

  • The institute of space intelligent system, harbin institute of technology, harbin, p.r. china and postdoctoral work-station, shenzhen academy of aerospace technology, shenzhen, p.r. china;The institute of space intelligent system, harbin institute of technology, harbin, p.r. china;The institute of space intelligent system, harbin institute of technology, harbin, p.r. china;Department of automation and computer-aided engineering, the chinese university of hong kong, hong kong, p.r. china.

  • Venue:
  • Robotica
  • Year:
  • 2010

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Abstract

The technologies of autonomous rendezvous and robotic capturing of non-cooperative targets are very crucial for the future on-orbital service. In this paper, we proposed a method to achieve this aim. Three problems were addressed: the target recognition and pose (position and attitude) measurement based on the stereo vision, the guidance, navigation and control (GNC) of the chaser, and the coordinated plan and control of space robot (CP&C). The pose measurement algorithm includes image filtering, edge detection, line extraction, stereo match and pose computing, et al. Based on the measured values, a certain GNC algorithm was designed for the chaser to approach and rendezvous with the target. Then the CP&C algorithm, which is proved to be advantageous over the traditional separated method, was used to plan and track the trajectories of the base pose and the joint angle. At last, a 3D simulation system was developed to evaluate the proposed method. Simulation results verified the corresponding algorithms.