Measurement and planning approach of space robot for capturing non-cooperative target

A stereo vision-based measurement and planning method is proposed for space robot to capture a noncooperative target. The method is composed of image processing and feature extraction, 3D reconstruction and pose measurement, and autonomous planning and control. Furthermore, a simulation system is created, and the closed-loop simulations, including image collection, pose measurement, chaser GNC (guide, navigation and control), space robot planning and control, and satellites' dynamic calculation, are conducted. The simulation results verify the algorithms above.