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

RICH HTML

0   

PDF (PC)

575

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
[1] Yoshida K. Engineering test satellite VII flight experiments for space robot dynamics and control: theories on laboratory test beds ten years ago, now in orbit[J]. The International Journal of Robotics Research, 2003, 22(5): 321-335.
[2] Whelan D A, Adler E A, WilsonIII S B, et al. DARPA orbital express program: effecting a revolution in space-based systems[C]∥Proceedings of the International Society for Optical Engineering, San Diego, CA, 2000: 48-56.
[3] Liang Bin, Li Cheng, Xue Li-jun, et al. A Chinese small intelligent space robotic system for on-orbit servicing[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 2006: 4602-4607.
[4] 薛力军,胡松华,梁斌,等. 不确定性空间机器人自适应Terminal滑模控制方法[J]. 吉林大学学报:工学版,2010, 40(3): 800-805.
Xue Li-jun, Hu Song-hua, Liang Bin, et al. Adaptive terminal sliding mode control for uncertain space robot[J]. Journal of Jilin University(Engineering and Technology Edition),2010, 40(3): 800-805.
[5] Yoshida K, Dimitrov D, Nakanishi H. On the capture of tumbling satellite by a space robot[C]∥2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 2006: 4127-4132.
[6] Aghili F. Coordination control of a free-flying manipulator and its base attitude to capture and detumble a noncooperative satellite[C]∥IEEE/RSJ International Conference on Intelligent Robots and Systems, St Louis, MO, 2009:2365-2372.
[7] 王汉磊,解永春. 自由漂浮机械臂抓取翻滚目标的[LL]自适应控制策略[J]. 空间控制技术与应用, 2009, 35(5): 6-12.
Wang Han-lei,Xie Yong-chun. Adaptive control scheme for the capture of a tumbling spacecraft using free-floating space manipulators[J]. Aerospace Control and Application, 2009, 35(5): 6-12.
[8] 王捷,谢宗武,蒋再男,等. 卫星在轨自维护地面平台自主操作[J]. 吉林大学学报：工学版, 2008, 38(5): 1231-1236.
Wang Jie, Xie Zong-wu, Jiang Zai-nan, et al. Auto-operation of on-orbit self-servicing satellite ground platform[J]. Journal of Jilin University (Engineering and Technology Edition), 2008,38(5): 1231-1236.
[9] Rekleitis I, Martin E, Rouleau G, et al. Autonomous capture of a tumbling satellite[J]. Journal of Field Robotics, 2007, 24(4): 275-296.
[10] Kawamoto S, Matsumoto K, Wakabayashi S. Ground experiment of mechanical impulse method for uncontrollable satellite capturing[C]∥Proceeding of the 6th International Symposium on Artificial Intelligence and Robotics & Automation in Space, Quebec, Canada, 2001:1-8.
[11] 徐福祥.用地球磁场和重力场成功挽救风云一号(B)卫星的控制技术[J].宇航学报,2001,22(2):1-10.
Xu Fu-xiang. Technique of successful rescue of FY-1B meteorological satellite by using the geomagnetic field and the gravitational field[J]. Journal of Astronautics, 2001, 22(2): 1-10.
[12] Xu Yang-sheng, Takeo Kanade. Space Robotics: Dynamics and Control[M]. Dordrecht, Boston: Kluwer Academic Publishers, 1992.
[13] 梁斌,刘良栋,李庚田,等. 空间机器人的动力学等价机械臂[J]. 自动化学报, 1998, 24(6): 45-51.
Liang Bin,Liu Liang-dong,Li Geng-tian,et al.Dynamically equivalent manipulator for a space manipulator[J].Acta Automatica Sinica,1998,24(6):45-51.
[1] GU Wan-li,WANG Ping,HU Yun-feng,CAI Shuo,CHEN Hong. Nonlinear controller design of wheeled mobile robot with H∞ performance [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1811-1819.
[2] LI Zhan-dong,TAO Jian-guo,LUO Yang,SUN Hao,DING Liang,DENG Zong-quan. Design of thrust attachment underwater robot system in nuclear power station pool [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(6): 1820-1826.
[3] WANG De-jun, WEI Wei-li, BAO Ya-xin. Actuator fault diagnosis of ESC system considering crosswind interference [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1548-1555.
[4] YAN Dong-mei, ZHONG Hui, REN Li-li, WANG Ruo-lin, LI Hong-mei. Stability analysis of linear systems with interval time-varying delay [J]. Journal of Jilin University(Engineering and Technology Edition), 2018, 48(5): 1556-1562.
[5] TIAN Yan-tao, ZHANG Yu, WANG Xiao-yu, CHEN Hua. Estimation of side-slip angle of electric vehicle based on square-root unscented Kalman filter algorithm [J]. 吉林大学学报(工学版), 2018, 48(3): 845-852.
[6] ZHANG Shi-tao, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, TIAN Da-peng. Enhancing performance of FSM based on zero phase error tracking control [J]. 吉林大学学报(工学版), 2018, 48(3): 853-858.
[7] WANG Lin, WANG Hong-guang, SONG Yi-feng, PAN Xin-an, ZHANG Hong-zhi. Behavior planning of a suspension insulator cleaning robot for power transmission lines [J]. 吉林大学学报(工学版), 2018, 48(2): 518-525.
[8] HU Yun-feng, WANG Chang-yong, YU Shu-you, SUN Peng-yuan, CHEN Hong. Structure parameters optimization of common rail system for gasoline direct injection engine [J]. 吉林大学学报(工学版), 2018, 48(1): 236-244.
[9] ZHU Feng, ZHANG Bao, LI Xian-tao, WANG Zheng-xi, ZHANG Shi-tao. Gyro signal processing based on strong tracking Kalman filter [J]. 吉林大学学报(工学版), 2017, 47(6): 1868-1875.
[10] JIN Chao-qiong, ZHANG Bao, LI Xian-tao, SHEN Shuai, ZHU Feng. Friction compensation strategy of photoelectric stabilized platform based on disturbance observer [J]. 吉林大学学报(工学版), 2017, 47(6): 1876-1885.
[11] FENG Jian-xin. Recursive robust filtering for uncertain systems with delayed measurements [J]. 吉林大学学报(工学版), 2017, 47(5): 1561-1567.
[12] XU Jin-kai, WANG Yu-tian, ZHANG Shi-zhong. Dynamic characteristics of a heavy duty parallel mechanism with actuation redundancy [J]. 吉林大学学报(工学版), 2017, 47(4): 1138-1143.
[13] HU Yun-feng, GU Wan-li, LIANG Yu, DU Le, YU Shu-you, CHEN Hong. Start-stop control of hybrid vehicle based on nonlinear method [J]. 吉林大学学报(工学版), 2017, 47(4): 1207-1216.
[14] SHEN Shuai, ZHANG Bao, LI Xian-tao, ZHU Feng, JIN Chao-qiong. Acceleration feedback control based on tracking differentiator [J]. 吉林大学学报(工学版), 2017, 47(4): 1217-1224.
[15] SHAO Ke-yong, CHEN Feng, WANG Ting-ting, WANG Ji-chi, ZHOU Li-peng. Full state based adaptive control of fractional order chaotic system without equilibrium point [J]. 吉林大学学报(工学版), 2017, 47(4): 1225-1230.
Viewed
Full text


Abstract

Cited
  Shared   
  Discussed   
[1] LIU Song-shan, WANG Qing-nian, WANG Wei-hua, LIN Xin. Influence of inertial mass on damping and amplitude-frequency characteristic of regenerative suspension[J]. 吉林大学学报(工学版), 2013, 43(03): 557 -563 .
[2] CHU Liang, WANG Yan-bo, QI Fu-wei, ZHANG Yong-sheng. Control method of inlet valves for brake pressure fine regulation[J]. 吉林大学学报(工学版), 2013, 43(03): 564 -570 .
[3] LI Jing, WANG Zi-han, YU Chun-xian, HAN Zuo-yue, SUN Bo-hua. Design of control system to follow vehicle state with HIL test beach[J]. 吉林大学学报(工学版), 2013, 43(03): 577 -583 .
[4] HU Xing-jun, LI Teng-fei, WANG Jing-yu, YANG Bo, GUO Peng, LIAO Lei. Numerical simulation of the influence of rear-end panels on the wake flow field of a heavy-duty truck[J]. 吉林大学学报(工学版), 2013, 43(03): 595 -601 .
[5] WANG Tong-jian, CHEN Jin-shi, ZHAO Feng, ZHAO Qing-bo, LIU Xin-hui, YUAN Hua-shan. Mechanical-hydraulic co-simulation and experiment of full hydraulic steering systems[J]. 吉林大学学报(工学版), 2013, 43(03): 607 -612 .
[6] ZHANG Chun-qin, JIANG Gui-yan, WU Zheng-yan. Factors influencing motor vehicle travel departure time choice behavior[J]. 吉林大学学报(工学版), 2013, 43(03): 626 -632 .
[7] MA Wan-jing, XIE Han-zhou. Integrated control of main-signal and pre-signal on approach of intersection with double stop line[J]. 吉林大学学报(工学版), 2013, 43(03): 633 -639 .
[8] YU De-xin, TONG Qian, YANG Zhao-sheng, GAO Peng. Forecast model of emergency traffic evacuation time under major disaster[J]. 吉林大学学报(工学版), 2013, 43(03): 654 -658 .
[9] XIAO Yun, LEI Jun-qing, ZHANG Kun, LI Zhong-san. Fatigue stiffness degradation of prestressed concrete beam under multilevel amplitude cycle loading[J]. 吉林大学学报(工学版), 2013, 43(03): 665 -670 .
[10] XIAO Rui, DENG Zong-cai, LAN Ming-zhang, SHEN Chen-liang. Experiment research on proportions of reactive powder concrete without silica fume[J]. 吉林大学学报(工学版), 2013, 43(03): 671 -676 .
Copyright © Journal of Jilin University(Engineering and Technology Edition), All Rights Reserved.
Tel: +86-431-85095297　Fax: +86-431-85094074　E-mail: xbgxb@jlu.edu.cn
Powered by Beijing Magtech Co. Ltd