Vision-based autonomous docking for self-reconfigurable CubeSats
文献类型：会议论文
| 作者 | Fu, Yimeng; Su, Chenli; Liu JG(刘金国) ; Gao Q(高庆); Zhang T(张天); Tian, Tongtong
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| 出版日期 | 2016 |
| 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 |
| 页码 | 780-787 |
| 通讯作者 | 刘金国 |
| 中文摘要 | 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. |
| 收录类别 | EI |
| 产权排序 | 2 |
| 会议录 | Proceedings of the 2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016)
 |
| 会议录出版者 | IEEE |
| 会议录出版地 | New York |
| 语种 | 英语 |
| ISBN号 | 978-1-5090-4363-7 |
| 源URL | [http://ir.sia.cn/handle/173321/20190]  |
| 专题 | 沈阳自动化研究所_空间自动化技术研究室 |
| 推荐引用方式 GB/T 7714 | Fu, Yimeng,Su, Chenli,Liu JG,et al. Vision-based autonomous docking for self-reconfigurable CubeSats[C]. 见:2016 IEEE International Conference on Robotics and Biomimetics (ROBIO 2016). Qingdao, China. December 3-7, 2016. |
入库方式： OAI收割
来源：沈阳自动化研究所
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