Title:
Vision-Based Attitude Determination Using A SLAM Algorithm During Relative Circumnavigation Of Non-cooperative Objects
Vision-Based Attitude Determination Using A SLAM Algorithm During Relative Circumnavigation Of Non-cooperative Objects
| dc.contributor.author | Antonello, Andrea | |
| dc.contributor.author | Tsiotras, Panagiotis | |
| dc.contributor.corporatename | Georgia Institute of Technology. School of Aerospace Engineering | en_US |
| dc.contributor.corporatename | University of Padova | en_US |
| dc.date.accessioned | 2018-02-15T21:45:17Z | |
| dc.date.available | 2018-02-15T21:45:17Z | |
| dc.date.issued | 2016-09 | |
| dc.description | Copyright © 2016 by the authors. All rights reserved. | en_US |
| dc.description | Paper IAC-16-A6 | en_US |
| dc.description.abstract | We approach the problem of a chaser satellite circumnavigating a target object in a relative orbit. The objective is to obtain a map of the scenario and to measure the reciprocal position of the chaser-target pair, in order to subsequently perform proximity operations (active debris removal, rendezvous, servicing, etc.) more reliably. This work analyzes the case of a target-chaser scenario in a closed Clohessy-Wiltshire relative orbit. The chaser satellite has a vision sensor and observes a set of landmarks on the target satellite: the control acts on the yaw-rotation of the detector. By de ning a probability distribution over a set of feasible control trajectories, we perform a search for a near-optimal solution. At the core of this approach lies the cross entropy minimization technique for estimating rare-event probabilities, which iteratively approximates the sampling distribution towards regions of progressively lower cost until converging to the optimum. We present simulations of a tracking scenario, demonstrating the validity of the proposed control technique. Performance of the proposed policy is compared with the case of a non controlled sensor by evaluating the time spent under observation and the residual uncertainty bounds on the landmarks. Results con rm the validity of the proposed approach. | en_US |
| dc.identifier.uri | http://hdl.handle.net/1853/59342 | |
| dc.language.iso | en_US | en_US |
| dc.publisher | Georgia Institute of Technology | en_US |
| dc.relation.ispartofseries | IAC-16-A6 | en_US |
| dc.subject | Circumnavigation | en_US |
| dc.subject | Cross entropy | en_US |
| dc.subject | Extended Kalman filter | en_US |
| dc.subject | Vision-based navigation | en_US |
| dc.title | Vision-Based Attitude Determination Using A SLAM Algorithm During Relative Circumnavigation Of Non-cooperative Objects | en_US |
| dc.type | Text | |
| dc.type.genre | Proceedings | |
| dspace.entity.type | Publication | |
| local.contributor.author | Tsiotras, Panagiotis | |
| local.contributor.corporatename | Unmanned Aerial Vehicle Research Facility | |
| relation.isAuthorOfPublication | bd4969ec-a869-452f-81f1-9f2dc8118b3c | |
| relation.isOrgUnitOfPublication | 5a379df1-c9ee-4bc9-a46e-9969e0eda2b1 |