Measurement and Planning Approach of Space Robot for Capturing Non-cooperative Target
XU Wenfu1,2, LIANG Bin1, LI Cheng1, LIU Yu1
1. The Institute of Space Intelligent System, Harbin Institute of Technology, Harbin 150001, China; 2. Postdoctoral Work-station, Shenzhen Academy of Aerospace Technology, Shenzhen 518057, China
Abstract：A stereo vision-based measurement and planning method is proposed for space robot to capture a non-cooperative target.The method is composed of image processing and feature extraction,3D reconstruction and pose measure-ment,and autonomous planning and control.Furthermore,a simulation system is created,and the closed-loop simulations,including image collection,pose measurement,chaser GNC(guide,navigation and control),space robot planning and control,and satellites'dynamic calculation,are conducted.The simulation results verify the algorithms above.
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