Autonomous rendezvous and robotic capturing of non-cooperative target in space

Xu, Wenfu; Liang, Bin; Li, Cheng; Xu, Yangsheng

doi:10.1017/s0263574709990397

Cited by 93 publications

(36 citation statements)

References 22 publications

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“…(18)} defined, an efficient QP solver, i.e., the PLPE-based numerical algorithm is developed as follows. if y k / ∈ * y k+1 = y k − ρ(y k )g(y k ) with ρ(y k ) = e(y k ) 2 2 / (W T + I )e(y k ) 2 2 else return y k end Based on Theorems 1-3 in ref. [30], the sequence {y k } generated by the PLPE-based numerical algorithm globally linearly converges to solution y * , the first n elements of which constitute the optimal solution q * for QP (15)- (17).…”

Section: Plpe-based Numerical Algorithmmentioning

confidence: 99%

Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

Zhang

2014

Robotica

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In order to resolve the redundancy of a wheeled mobile redundant manipulator comprising a twowheel-drive mobile platform and a 6-degree-of-freedom manipulator, a physical-limits-constrained (PLC) minimum velocity norm (MVN) coordinating scheme (termed as PLC-MVN-C scheme) is proposed and investigated. Such a scheme can not only coordinate the mobile platform and the manipulator to fulfill the end-effector task and to achieve the desired optimal index (i.e., minimizing the norm of the rotational velocities of the wheels and the joint velocities of the manipulator) but also consider the physical limits of the robot (i.e., the joint-angle limits and joint-velocity limits of the manipulator as well as the rotational velocity limits of the wheels). The scheme is then reformulated as a quadratic program (QP) subject to equality and bound constraints, and is solved by a discrete QP solver, i.e., a numerical algorithm based on piecewise-linear projection equations (PLPE). Simulation results substantiate the efficacy and accuracy of such a PLC-MVN-C scheme and the corresponding discrete PLPE-based QP solver.

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Section: Plpe-based Numerical Algorithmmentioning

confidence: 99%

Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

Zhang

2014

Robotica

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“…Once the position and the attitude were measured based on stereo vision, autonomous rendezvous and robotic capturing of a non-cooperative target was proposed by Xu et al [78]. 3D simulation results were performed to verify the algorithm.…”

Section: B Proximity Rendezvous For Autonomous Capturingmentioning

confidence: 99%

A Review of Robotics Technologies for On-Orbit Services

Flores-Abad¹,

Ma²,

Pham³

2013

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Space robotics has been considered one of the most promising approaches for on-orbit services (OOS) such as docking, berthing, refueling, repairing, upgrading, transporting, rescuing, and orbit cleanup. Many enabling techniques have been developed recently and several technology demonstration missions have been completed. Several manned servicing missions were also successfully accomplished but unmanned real servicing missions have not been done yet. All of the accomplished unmanned technology demonstration missions were designed to service perfectly known and cooperative targets only. Servicing a non-cooperative satellite in orbit by a robotic system is still an untested mission facing many technical challenges. One of the largest challenges would be how to ensure the servicing spacecraft and the robot to safely and reliably dock with or capture the target satellite and stabilizing it for subsequent servicing, especially if the serviced target is unknown regarding its motion and kinematics/dynamics properties. Obviously, further research and development of the enabling technologies are needed. To facilitate such further research and development, this paper provides a literature review of the recently developed technologies related to the kinematics, dynamics, control and verification of space robotic systems for manned and unmanned onorbit servicing missions.

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“…Thus, using two cameras instead of a single 3-D sensor provides lower signatures, consumes less energy, and is usually more cost effective than 3-D sensors. Xu et al [9] develop an interesting approach in which stereovision is used for autonomous rendezvous and robotic capturing of noncooperative targets. However, it does not provide guidelines for practical implementation of the newly-derived concepts.…”

Section: Introductionmentioning

confidence: 99%

Stereovision-Based Estimation of Relative Dynamics Between Noncooperative Satellites: Theory and Experiments

Segal

Carmi

Gurfil

2014

IEEE Trans. Contr. Syst. Technol.

143

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Estimating the relative pose and motion of cooperative satellites using on-board sensors is a challenging problem. When the satellites are noncooperative, the problem becomes even more complicated, as there might be poor a priori information about the motion and structure of the target satellite. In this paper, the mentioned problem is solved by using only visual sensors, which measurements are processed through robust filtering algorithms. Using two cameras mounted on a chaser satellite, the relative state with respect to a target satellite, including the position, attitude, and rotational and translational velocities, is estimated. The new approach employs a stereoscopic vision system for tracking a set of feature points on the target spacecraft. The perspective projection of these points on the two cameras constitutes the observation model of an iterated extended Kalman filter (IEKF) estimation scheme. Using new theoretical results, the information contained in the visual data is quantified using the Fisher information matrix. It is shown that, even in the noncooperative case, there is information that can be extracted pertaining to the relative attitude and target structure. Finally, a method is proposed for rendering the relative motion filtering algorithm robust to uncertainties in the target's inertia tensor. This is accomplished by endowing the IEKF with a maximum a posteriori identification scheme for determining the most probable inertia tensor from several available hypotheses. The performance of the new filtering algorithm is validated by Monte-Carlo simulations. Also a preliminary experimental evaluation is provided.

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Autonomous rendezvous and robotic capturing of non-cooperative target in space

Cited by 93 publications

References 22 publications

Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

Physical-limits-constrained minimum velocity norm coordinating scheme for wheeled mobile redundant manipulators

A Review of Robotics Technologies for On-Orbit Services

Stereovision-Based Estimation of Relative Dynamics Between Noncooperative Satellites: Theory and Experiments

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