A free floating platform is realized with a pneumatic suspension system which enables a bi-dimensional test of complex space operations, such as rendezvous and docking. The platform is equipped with an IMU and actuated via cold gas thrusters. A target is acquired by an on-board camera and the image is processed for evaluating the control actions needed to reach it. A special effort will be devoted to the reduction of the computational load for the image processing, because of the limited on-board computational resources. A technique for determining the relative position and velocity with respect to target using the same visual device is proposed and realized. The novel algorithms and relevant experimental results are presented.
IMAGE BASED CONTROL OF A FREE FLYING PLATFORM / Sabatini, Marco; Palmerini, Giovanni Battista; R., Monti; Gasbarri, Paolo. - ELETTRONICO. - 145:(2012), pp. 1023-1042. (Intervento presentato al convegno 1st International-Academy-of-Astronautics Conference on Dynamics and Control of Space Systems (DyCoSS) tenutosi a Porto, PORTUGAL nel MAR 19-21, 2012).
IMAGE BASED CONTROL OF A FREE FLYING PLATFORM
SABATINI, MARCO;PALMERINI, Giovanni Battista;GASBARRI, Paolo
2012
Abstract
A free floating platform is realized with a pneumatic suspension system which enables a bi-dimensional test of complex space operations, such as rendezvous and docking. The platform is equipped with an IMU and actuated via cold gas thrusters. A target is acquired by an on-board camera and the image is processed for evaluating the control actions needed to reach it. A special effort will be devoted to the reduction of the computational load for the image processing, because of the limited on-board computational resources. A technique for determining the relative position and velocity with respect to target using the same visual device is proposed and realized. The novel algorithms and relevant experimental results are presented.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
