Visual based Navigation of a Free Floating Robot by Means of a Lab Star Tracker

Marco Sabatini, Giovanni B. Palmerini, Paolo Gasbarri

2015

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.

References

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Paper Citation


in Harvard Style

Sabatini M., B. Palmerini G. and Gasbarri P. (2015). Visual based Navigation of a Free Floating Robot by Means of a Lab Star Tracker . In Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-123-6, pages 422-429. DOI: 10.5220/0005570604220429


in Bibtex Style

@conference{icinco15,
author={Marco Sabatini and Giovanni B. Palmerini and Paolo Gasbarri},
title={Visual based Navigation of a Free Floating Robot by Means of a Lab Star Tracker},
booktitle={Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2015},
pages={422-429},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005570604220429},
isbn={978-989-758-123-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 12th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Visual based Navigation of a Free Floating Robot by Means of a Lab Star Tracker
SN - 978-989-758-123-6
AU - Sabatini M.
AU - B. Palmerini G.
AU - Gasbarri P.
PY - 2015
SP - 422
EP - 429
DO - 10.5220/0005570604220429