空间机器人捕获非合作目标的测量与规划方法研究.pdf

32 1 ROBOT Vol.32, No.1 2010 1 Jan., 2010 1002-0446(2010)-01-0061-09 12 1 1 1 1. 150001 2. 518057 3D GNC TP24 A Measurement and Planning Approach of Space Robot for Capturing Non-cooperative Target XU Wenfu12 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. Keywords: space robot; non-cooperative target; autonomous capturing; pose measurement; path planning 1 Introduction 1 3-6 80 130 2 3 3 5 10 30 1) 2) 2 2006 10 29 3)