Authors:
Marco Sabatini
;
Giovanni B. Palmerini
and
Paolo Gasbarri
Affiliation:
Sapienza Università di Roma, Italy
Keyword(s):
Free Floating Testbed, Autonomous Visual Navigation, Lab Star Tracker, Simulation and Experiments.
Related
Ontology
Subjects/Areas/Topics:
Engineering Applications
;
Image Processing
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
;
Space and Underwater Robotics
;
Vision, Recognition and Reconstruction
Abstract:
A visual based navigation for a free floating platform has been realized. The basic principle is the same as for the star trackers used in space operations for attitude determination, with the remarkable difference that also the position with respect to an inertial reference frame is evaluated. Both the working principles and the algorithms for increasing the robustness of the device will be reported. The design and realization of the prototype is illustrated. Finally, the performance of the navigation system will be tested both in a numerical environment and in a dedicated experimental setup, showing a satisfactory level of accuracy for the intended operations.