Title :
Vision based navigation by landmark for robotic explorer
Author :
Kubota, Takashi ; Hasimoto, Tatsuaki ; Kawaguchi, Jun´ichiro ; Shirakawa, Ken´ichi ; Morita, Hideo ; Uo, Masashi
Author_Institution :
Inst. of Space & Astronaut. Sciene, JAXA, Sagamihara
Abstract :
The rendezvous and landing missions are very significant for scientific explorations. In such missions, the navigation and guidance based on image data is very important. The spacecraft Hayabusa performed the descent flights to the target asteroid Itokawa in November of 2005. To accurately determine the spacecraft position, a landmark tracking scheme with the help of the ground operation was introduced and developed in the Hayabusa mission. The Hayabusa project team developed new tools that combined human assist with the computer aided terminal display. The proposed landmark tracking scheme contributed to the successful precise navigation to the specified area on the surface. This paper presents a visual navigation method with the landmark tracking used for the Hayabusa mission.
Keywords :
aerospace robotics; asteroids; computerised navigation; control engineering computing; mobile robots; path planning; space vehicles; Hayabusa spacecraft; Itokawa asteroid; computer aided terminal display; landing missions; landmark tracking scheme; rendezvous missions; robotic explorer; scientific explorations; vision based navigation; Attitude control; Computer displays; Force control; Motion control; Navigation; Orbital robotics; Robot vision systems; Shape control; Space missions; Space vehicles; Landmark Tracking; Robotic Exploration; Visual Navigation;
Conference_Titel :
Robotics and Biomimetics, 2008. ROBIO 2008. IEEE International Conference on
Conference_Location :
Bangkok
Print_ISBN :
978-1-4244-2678-2
Electronic_ISBN :
978-1-4244-2679-9
DOI :
10.1109/ROBIO.2009.4913166