An autonomous docking simulation system based on monocular vision

Author

Zhang, Zhigao ; Qu, Zhenshen ; Li, Qinghua

Author_Institution

Space Control & Inertial Technol. Res. Center, Harbin Inst. of Technol.

fYear

2006

fDate

19-21 Jan. 2006

Lastpage

1315

Abstract

In this paper, we present an autonomous docking simulation system based on a mobile robot and a monocular camera. This system consists of four loosely-coupled subsystems: kinetic subsystem, target recognition subsystem, autonomous control subsystem and wireless communication subsystem. Using this modularized architecture, this system is relatively stable and has higher robustness and efficiency. It is very effective in simulating the docking process of the spacecraft and can be useful to do further research in object recognition and orientation and in real-time control system based on visual feedback

Keywords

CCD image sensors; aerospace instrumentation; control systems; mobile robots; real-time systems; sensors; space vehicles; target tracking; autonomous control subsystem; autonomous docking simulation system; kinetic subsystem; loosely-coupled subsystems; mobile robot; modularized architecture; monocular camera; monocular vision; object orientation; object recognition; real-time control system; spacecraft; target recognition subsystem; visual feedback; wireless communication subsystem; Cameras; Communication system control; Control systems; Kinetic theory; Mobile robots; Robot vision systems; Robustness; Space vehicles; Target recognition; Wireless communication;

fLanguage

English

Publisher

ieee

Conference_Titel

Systems and Control in Aerospace and Astronautics, 2006. ISSCAA 2006. 1st International Symposium on

Conference_Location

Harbin

Print_ISBN

0-7803-9395-3

Type

conf

DOI

10.1109/ISSCAA.2006.1627528

Filename

1627528