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Vision-based autonomous docking for self-reconfigurable CubeSats
Fu, Yimeng; Su, Chenli; Liu JG(刘金国); Gao Q(高庆); Zhang T(张天); Tian, Tongtong
作者部门空间自动化技术研究室
会议名称2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
会议日期December 3-7, 2016
会议地点Qingdao, China
会议录名称Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
出版者IEEE
出版地New York
2016
页码780-787
收录类别EI ; CPCI(ISTP)
EI收录号20171403534599
WOS记录号WOS:000405724600131
产权排序2
ISBN号978-1-5090-4363-7
摘要

To meet the performance requirements of real-time and high accuracy for autonomous docking of modular self-reconfigurable CubeSats, a vision-based method is proposed by setting a cooperative target on a CubeSat and combining with Fractional-Order Darwinian Particle Swarm Optimization algorithm. Firstly, a monocular camera is utilized to grab images of the cooperation target. Then an image intelligent segmentation method is proposed based on FO-DPSO algorithm to achieve the recognition of the feature points of the cooperative target. These feature points' coordinates of the cooperative target are acquired by extracting the regional center of ellipse areas from the grabbed images. Finally, the relative position and attitude of the tracking CubeSat are calculated by the EPnP algorithm. The experiments are carried out on the established prototype. The results show that the extraction accuracy of the cooperation target feature points is within 0.932 pixel, and the positioning deviation of the tracking CubeSat is within 0.025 mm. The proposed autonomous docking method has a good real-time performance, and can meet the requirements of practical application.

语种英语
引用统计
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/20190
专题空间自动化技术研究室
通讯作者Liu JG(刘金国)
作者单位1.Academy of Information and Control Engineering, Liaoning Shihua University, Fushun, CO, 113001, China
2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, CO, 110016, China
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Fu, Yimeng,Su, Chenli,Liu JG,et al. Vision-based autonomous docking for self-reconfigurable CubeSats[C]. New York:IEEE,2016:780-787.
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