Concurrent image-based visual servoing with adaptive zooming for non-cooperative rendezvous maneuvers |
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Authors: | Jorge Pomares Leonard Felicetti Javier Pérez M Reza Emami |
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Institution: | 1. University of Alicante, PO Box 99, 03080 Alicante, Spain;2. Luleå University of Technology, Division of Space Technology, Box 848, Rymdcampus, 981 28 Kiruna, Sweden;3. Space Mechatronics Group, University of Toronto, Institute for Aerospace Studies, Toronto M3H 5T6, Canada |
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Abstract: | An image-based servo controller for the guidance of a spacecraft during non-cooperative rendezvous is presented in this paper. The controller directly utilizes the visual features from image frames of a target spacecraft for computing both attitude and orbital maneuvers concurrently. The utilization of adaptive optics, such as zooming cameras, is also addressed through developing an invariant-image servo controller. The controller allows for performing rendezvous maneuvers independently from the adjustments of the camera focal length, improving the performance and versatility of maneuvers. The stability of the proposed control scheme is proven analytically in the invariant space, and its viability is explored through numerical simulations. |
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Keywords: | Non-cooperative rendezvous Visual servoing Zooming cameras Spacecraft guidance navigation and control |
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