Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot
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. T...
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| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Wiley
2017-01-01
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| Series: | International Journal of Aerospace Engineering |
| Online Access: | http://dx.doi.org/10.1155/2017/3162349 |
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| _version_ | 1850162737850613760 |
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| author | Panfeng Huang Lu Chen Bin Zhang Zhongjie Meng Zhengxiong Liu |
| author_facet | Panfeng Huang Lu Chen Bin Zhang Zhongjie Meng Zhengxiong Liu |
| author_sort | Panfeng Huang |
| collection | DOAJ |
| description | 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. |
| format | Article |
| id | doaj-art-f925eae4e0f444e5a2e5b8a34124ffcd |
| institution | OA Journals |
| issn | 1687-5966 1687-5974 |
| language | English |
| publishDate | 2017-01-01 |
| publisher | Wiley |
| record_format | Article |
| series | International Journal of Aerospace Engineering |
| spelling | doaj-art-f925eae4e0f444e5a2e5b8a34124ffcd2025-08-20T02:22:28ZengWileyInternational Journal of Aerospace Engineering1687-59661687-59742017-01-01201710.1155/2017/31623493162349Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space RobotPanfeng Huang0Lu Chen1Bin Zhang2Zhongjie Meng3Zhengxiong Liu4National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaNational Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaNational Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaNational Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaNational Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, ChinaIn 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.http://dx.doi.org/10.1155/2017/3162349 |
| spellingShingle | Panfeng Huang Lu Chen Bin Zhang Zhongjie Meng Zhengxiong Liu Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot International Journal of Aerospace Engineering |
| title | Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot |
| title_full | Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot |
| title_fullStr | Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot |
| title_full_unstemmed | Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot |
| title_short | Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot |
| title_sort | autonomous rendezvous and docking with nonfull field of view for tethered space robot |
| url | http://dx.doi.org/10.1155/2017/3162349 |
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