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Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot
文献类型:期刊
作者:Huang, Panfeng[1]  Chen, Lu[2]  Zhang, Bin[3]  Meng, Zhongjie[4]  Liu, Zhengxiong[5]  
机构:[1]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
[2]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
[3]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
[4]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
[5]National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China |Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi'an, Shaanxi, 710072, China
通讯作者:Huang, PF (reprint author), Northwestern Polytech Univ, Natl Key Lab Aerosp Flight Dynam, Xian 710072, Shaanxi, Peoples R China.; Huang, PF (reprint author), Northwestern Polytech Univ, Res Ctr Intelligent Robot, Sch Astronaut, Xian 710072, Shaanxi, Peoples R China.
年:2017
期刊名称:INTERNATIONAL JOURNAL OF AEROSPACE ENGINEERING影响因子和分区
卷:2017
增刊:正刊
学科:工程学
收录情况:SCI(E)(WOS:000393827200001)  EI(20171003417946)  
所属部门:航天学院
被引频次:12
人气指数:150
浏览次数:143
基金:National Natural Science Foundation of China [11272256, 60805034]; Fundamental Research Funds for the Central Universities [3102016BJJ03]
摘要:
In the ultra-close approaching phase of tethered space robot, a highly stable self-attitude control is essential. However, due to the field of view limitation of cameras, typical point features are difficult to extract, where commonly adopted position-based visual servoing cannot be valid anymore. To provide robot's relative position and attitude with the target, we propose a monocular visual servoing control method using only the edge lines of satellite brackets. Firstly, real time detection of ...More
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