Table of Contents Author Guidelines Submit a Manuscript
International Journal of Aerospace Engineering
Volume 2017 (2017), Article ID 3162349, 11 pages
https://doi.org/10.1155/2017/3162349
Research Article

Autonomous Rendezvous and Docking with Nonfull Field of View for Tethered Space Robot

1National Key Laboratory of Aerospace Flight Dynamics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, China
2Research Center for Intelligent Robotics, School of Astronautics, Northwestern Polytechnical University, Xi’an, Shaanxi 710072, China

Correspondence should be addressed to Panfeng Huang; nc.ude.upwn@gnauhfp

Received 14 October 2016; Revised 10 January 2017; Accepted 16 January 2017; Published 13 February 2017

Academic Editor: Christian Circi

Copyright © 2017 Panfeng Huang et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Linked References

  1. M. Shan, J. Guo, and E. Gill, “Review and comparison of active space debris capturing and removal methods,” Progress in Aerospace Sciences, vol. 80, pp. 18–32, 2016. View at Publisher · View at Google Scholar · View at Scopus
  2. P. Huang, F. Zhang, Z. Meng, and Z. Liu, “Adaptive control for space debris removal with uncertain kinematics, dynamics and states,” Acta Astronautica, vol. 128, pp. 416–430, 2016. View at Publisher · View at Google Scholar · View at Scopus
  3. F. Zhang and P. Huang, “Releasing dynamics and stability control of maneuverable tethered space net,” IEEE/ASME Transactions on Mechatronics, vol. PP, no. 99, pp. 1–1, 2016. View at Publisher · View at Google Scholar
  4. P. Williams, “Optimal orbital transfer with electrodynamic tether,” Journal of Guidance, Control, and Dynamics, vol. 28, no. 2, pp. 369–372, 2005. View at Publisher · View at Google Scholar · View at Scopus
  5. P. Pergola, A. Ruggiero, M. Andrenucci, and L. Summerer, “Low-thrust missions for expanding foam space debris removal,” in Proceedings of the 32nd International Electric Propulsion Conference, Wiesbaden, Germany, September 2011.
  6. P. Huang, D. Wang, Z. Meng, F. Zhang, and Z. Liu, “Impact dynamic modeling and adaptive target capturing control for tethered space robots with uncertainties,” IEEE/ASME Transactions on Mechatronics, vol. 21, no. 5, pp. 2260–2271, 2016. View at Publisher · View at Google Scholar · View at Scopus
  7. P. Huang, D. Wang, Z. Meng, F. Zhang, and J. Guo, “Adaptive postcapture backstepping control for tumbling tethered space robot–target combination,” Journal of Guidance, Control, and Dynamics, vol. 39, no. 1, pp. 150–156, 2016. View at Publisher · View at Google Scholar · View at Scopus
  8. P. Huang, M. Wang, Z. Meng, F. Zhang, Z. Liu, and H. Chang, “Reconfigurable spacecraft attitude takeover control in post-capture of target by space manipulators,” Journal of the Franklin Institute, vol. 353, no. 9, pp. 1985–2008, 2016. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at Scopus
  9. P. Huang, D. Wang, F. Zhang, Z. Meng, and Z. Liu, “Postcapture robust nonlinear control for tethered space robot with constraints on actuator and velocity of space tether,” International Journal of Robust and Nonlinear Control, 2016. View at Publisher · View at Google Scholar
  10. L. Chen, P. Huang, J. Cai, Z. Meng, and Z. Liu, “A non-cooperative target grasping position prediction model for tethered space robot,” Aerospace Science and Technology, vol. 58, pp. 571–581, 2016. View at Publisher · View at Google Scholar
  11. B. Bischof, L. Kerstein, J. Starke, H. Guenther, and W. Foth, “ROGER—robotic geostationary orbit restorer,” Science and Technology Series, vol. 109, pp. 183–193, 2004. View at Google Scholar
  12. R. B. Friend, R. T. Howard, and P. Motaghedi, “Orbital express program summary and mission overview,” in SPIE Defense and Security Symposium, Orlando, Fla, USA, April 2008. View at Publisher · View at Google Scholar
  13. N. Yuga, S. Fumiki, and N. Shinichi, “Guidance and control of ‘tethered retriever’ with collaborative tension-thruster control for future on-orbit service missions,” in Proceedings of the 8th International Symposium on Artificial Intelligence: Robotics and Automation in Space (i-SAIRAS '05), Munich, Germany, September 2005.
  14. D. Wang, P. Huang, J. Cai, and Z. Meng, “Coordinated control of tethered space robot using mobile tether attachment point in approaching phase,” Advances in Space Research, vol. 54, no. 6, pp. 1077–1091, 2014. View at Publisher · View at Google Scholar · View at Scopus
  15. D. Wang, P. Huang, and Z. Meng, “Coordinated stabilization of tumbling targets using tethered space manipulators,” IEEE Transactions on Aerospace and Electronic Systems, vol. 51, no. 3, pp. 2420–2432, 2015. View at Publisher · View at Google Scholar · View at Scopus
  16. O. Mori and S. Matunaga, “Formation and attitude control for rotational tethered satellite clusters,” Journal of Spacecraft and Rockets, vol. 44, no. 1, pp. 211–220, 2007. View at Publisher · View at Google Scholar · View at Scopus
  17. W. Xu, B. Liang, C. Li, and Y. Xu, “Autonomous rendezvous and robotic capturing of non-cooperative target in space,” Robotica, vol. 28, no. 5, pp. 705–718, 2010. View at Publisher · View at Google Scholar · View at Scopus
  18. J. K. Thienel, J. M. VanEepoel, and R. M. Sanner, “Accurate state estimation and tracking of a non-cooperative target vehicle,” in Proceedings of the AIAA Guidance, Navigation, and Control Conference, pp. 5511–5522, Keystone, Colo, USA, August 2006. View at Scopus
  19. A. H. A. Hafez, V. V. Anurag, S. V. Shah, K. M. Krishna, and C. V. Jawahar, “Reactionless visual servoing of a dual-arm space robot,” in Proceedings of the IEEE International Conference on Robotics and Automation (ICRA '14), pp. 4475–4480, June 2014. View at Publisher · View at Google Scholar · View at Scopus
  20. G. Dong and Z. H. Zhu, “Position-based visual servo control of autonomous robotic manipulators,” Acta Astronautica, vol. 115, pp. 291–302, 2015. View at Publisher · View at Google Scholar · View at Scopus
  21. J. Cai, P. Huang, L. Chen, and B. Zhang, “An efficient circle detector not relying on edge detection,” Advanced in Space Research, vol. 51, no. 11, pp. 2359–2375, 2014. View at Google Scholar
  22. H. Yuen, J. Princen, J. Illingworth, and J. Kittler, “Comparative study of hough transform methods for circle finding,” Image and Vision Computing, vol. 8, no. 1, pp. 71–77, 1990. View at Publisher · View at Google Scholar · View at Scopus
  23. G. Casonato and G. B. Palmerini, “Visual techniques applied to the ATV/ISS rendez-vous monitoring,” in Proceedings of the IEEE Aerospace Conference Proceedings, pp. 613–624, Big Sky, Mont, USA, March 2004. View at Scopus
  24. M. Aull, “Visual servoing for an autonomous rendezvous and capture system,” Intelligent Service Robotics, vol. 2, no. 3, pp. 131–137, 2009. View at Publisher · View at Google Scholar · View at Scopus
  25. M. Sabatini, G. B. Palmerini, and P. Gasbarri, “A testbed for visual based navigation and control during space rendezvous operations,” Acta Astronautica, vol. 117, pp. 184–196, 2015. View at Publisher · View at Google Scholar · View at Scopus
  26. V. A. Ramirez, S. A. M. Gutierrez, and R. E. S. Yanez, “Quadrilateral detection using genetic algorithms,” Computación y Sistemas, vol. 15, no. 2, pp. 181–193, 2011. View at Google Scholar
  27. R. Grompone Von Gioi, J. Jakubowicz, J.-M. Morel, and G. Randall, “LSD: a fast line segment detector with a false detection control,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 32, no. 4, pp. 722–732, 2010. View at Publisher · View at Google Scholar · View at Scopus
  28. H. Wang, Y.-H. Liu, W. Chen, and Z. Wang, “A new approach to dynamic eye-in-hand visual tracking using nonlinear observers,” IEEE/ASME Transactions on Mechatronics, vol. 16, no. 2, pp. 387–394, 2011. View at Publisher · View at Google Scholar · View at Scopus
  29. H. Wang, B. Yang, Y. Liu, W. Chen, X. Liang, and R. Pfeifer, “Visual servoing of soft robot manipulator in constrained environments with an adaptive controller,” IEEE/ASME Transactions on Mechatronics, 2016. View at Publisher · View at Google Scholar
  30. A. Flores-Abad, O. Ma, K. Pham, and S. Ulrich, “A review of space robotics technologies for on-orbit servicing,” Progress in Aerospace Sciences, vol. 68, pp. 1–26, 2014. View at Publisher · View at Google Scholar · View at Scopus
  31. J. Liu, N. Cui, F. Shen, and S. Rong, “Dynamics of RObotic GEostationary orbit restorer system during deorbiting,” IEEE Aerospace and Electronic Systems Magazine, vol. 29, no. 11, pp. 36–42, 2014. View at Publisher · View at Google Scholar · View at Scopus
  32. A. Petit, E. Marchand, and K. Kanani, “Vision-based space autonomous rendezvous: a case study,” in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS '11), pp. 619–624, IEEE, San Francisco, Calif, USA, September 2011. View at Publisher · View at Google Scholar · View at Scopus
  33. B. P. Larouche and Z. H. Zhu, “Autonomous robotic capture of non-cooperative target using visual servoing and motion predictive control,” Autonomous Robots, vol. 37, no. 2, pp. 157–167, 2014. View at Publisher · View at Google Scholar · View at Scopus
  34. J.-P. Gambotto, “A new approach to combining region growing and edge detection,” Pattern Recognition Letters, vol. 14, no. 11, pp. 869–875, 1993. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at Scopus
  35. S. A. Hojjatoleslami and J. Kittler, “Region growing: a new approach,” IEEE Transactions on Image Processing, vol. 7, no. 7, pp. 1079–1084, 1998. View at Publisher · View at Google Scholar · View at Scopus
  36. K.-L. Chung, Y.-H. Huang, J.-P. Wang, T.-C. Chang, and H.-Y. Mark Liao, “Fast randomized algorithm for center-detection,” Pattern Recognition, vol. 43, no. 8, pp. 2659–2665, 2010. View at Publisher · View at Google Scholar · View at Zentralblatt MATH · View at Scopus
  37. E. Rosten, R. Porter, and T. Drummond, “Faster and better: a machine learning approach to corner detection,” IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 32, no. 1, pp. 105–119, 2010. View at Publisher · View at Google Scholar · View at Scopus
  38. M. Nohmi, “Mission design of a tethered robot satellite “STARS” for orbital experiment,” in Proceedings of the IEEE International Conference on Control Applications (CCA '09), pp. 1075–1080, St. Petersburg, Russia, July 2009. View at Publisher · View at Google Scholar · View at Scopus
  39. O. Bourquardez, R. Mahony, N. Guenard, F. Chaumette, T. Hamel, and L. Eck, “Image-based visual servo control of the translation kinematics of a quadrotor aerial vehicle,” IEEE Transactions on Robotics, vol. 25, no. 3, pp. 743–749, 2009. View at Publisher · View at Google Scholar · View at Scopus
  40. E. Malis, F. Chaumette, and S. Boudet, “2 1/2 D visual servoing,” IEEE Transactions on Robotics and Automation, vol. 15, no. 2, pp. 238–250, 1999. View at Publisher · View at Google Scholar · View at Scopus