吉林大学学报(工学版) ›› 2014, Vol. 44 ›› Issue (3): 757-764.doi: 10.13229/j.cnki.jdxbgxb201403028

• Orignal Article • Previous Articles     Next Articles

Motion prediction and autonomous path planning for spinning target capturing

LIU Hou-de1,2, LIANG Bin1,3, XU Wen-fu1, MU Qing-tao1, YU Jiang-hua1   

  1. 1.Shenzhen Graduate School, Harbin Institute of Technology, Shenzhen 518055,China;
    2.Graduate School at Shenzhen, Tsinghua University, Shenzhen 518055,China;
    3.Aerospace Dongfanghong Development Ltd, Shenzhen 518057, China
  • Received:2012-12-17 Online:2014-03-01 Published:2014-03-01

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Abstract: First, the motion characteristics and motion prediction of the spinning target are analyzed. Then, the Unscented Kalman Filter (UKF) is used to predict the motion state of the target. On this basis, a method of autonomous path planning of a free-floating space robot for target capturing is proposed, which is based on motion prediction and speed compensation. Simulations are carried out to verify the feasibility and validity of the proposed method.

Key words: automatic control technology, spinning target, motion prediction, path planning

CLC Number: 

  • TP24
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