@inproceedings{74e79bf7eced451fba906fdf8f663b20,
title = "Autonomous trajectory planning of free-floating robot for capturing space target",
abstract = "Space target may move in various modes, such as free-floating, tumbling, and so on. In order to capture a space target, autonomous trajectory planning algorithm is studied. The base of the space robot is free-floating for the purpose of safety and saving the fuel. Firstly, the target feature is extracted based on the measured information via the hand-eye camera. Then the target pose (position and orientation) and velocity (linear velocity and angular velocity) relative to the end-effector are estimated using Kalman filtering technology. Thirdly, an autonomous trajectory planning approach is proposed for capturing an space target with unknown motion. Lastly, a semi-physical simulation system is established to verify the planning algorithm. The simulation results show that the algorithm is valid.",
keywords = "Path planning, Space robot, Target capturing",
author = "Cheng Li and Bin Liang and Wenfu Xu",
year = "2006",
doi = "10.1109/IROS.2006.281783",
language = "英语",
isbn = "142440259X",
series = "IEEE International Conference on Intelligent Robots and Systems",
pages = "1008--1013",
booktitle = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006",
note = "2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 ; Conference date: 09-10-2006 Through 15-10-2006",
}