空间绳系机器人单目视觉伺服控制系统
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摘要
为解决空间绳系机器人近距离交会对接中的目标测量问题,设计了一种单目视觉伺服控制系统。该系统针对小模板在大场景中匹配时存在鲁棒性差、耗时长等缺点,采用了一种新的模板匹配算法。匹配模板借鉴FAST算法的空心圆环结构,使得算法具有旋转不变性,也减小了因背景变化引起的累积误差。同时匹配准则采用灰度值+梯度值的复合算子,具有较强的抗噪声和抑制光照变化的能力。为避免因错误匹配和遮挡等引起的跟踪失败,还设计了动态模板更新策略;最后结合最小二乘综合位置预测方法和PD控制器,实现了对复杂场景中的非合作目标的实时跟踪逼近。
In order to solve the problem of non-cooperative target recognition during short-distance rendezvous for the TSR,a prototype framework of servo control system using monocular-CMOS is proposed in this paper. Aiming at the problems resulted from small template matching with large scene,such as low robust and long time-consumption,a novel template matching algorithm is used in the system. First,the novel matching algorithm uses a hollow annulus structure according to FAST algorithm to make the method be rotation-invariant and help to decrease the accumulative error caused by the changes of background. The matching criteria is composed of gray and gradient differences between template and object image,which restrain the impact of noise and illumination. Then,a dynamic template update strategy is designed to avoid tracking failures brought about by wrong matching or occlusion. Finally,the algorithm combines the least square integrated predictor with the PD controller,thus realizing real-time tracking and approaching non-cooperative target under complex circumstances.
In order to solve the problem of non-cooperative target recognition during short-distance rendezvous for the TSR,a prototype framework of servo control system using monocular-CMOS is proposed in this paper. Aiming at the problems resulted from small template matching with large scene,such as low robust and long time-consumption,a novel template matching algorithm is used in the system. First,the novel matching algorithm uses a hollow annulus structure according to FAST algorithm to make the method be rotation-invariant and help to decrease the accumulative error caused by the changes of background. The matching criteria is composed of gray and gradient differences between template and object image,which restrain the impact of noise and illumination. Then,a dynamic template update strategy is designed to avoid tracking failures brought about by wrong matching or occlusion. Finally,the algorithm combines the least square integrated predictor with the PD controller,thus realizing real-time tracking and approaching non-cooperative target under complex circumstances.
引文
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[18]曾德贤,董绪荣,李睿.航天器相对角度光学测量方法[C].中国智能自动化会议,兰州,2007年8月24-27日.[Zeng De-xian,Dong Xu-rong,Li Rui.Optical measurement for spacecraft relative angle[C].Chinese Intelligent Automation Conference,Lanzhou,August 24-27,2007.]
[19]史也,梁斌,徐文福,等.满足暂态性能约束的自由漂浮空间机器人反步自适应轨迹跟踪[J].机器人,2013,35(5):607-614.[Shi Ye,Liang Bin,Xu Wen-fu,et al.Adaptive back-stepping trajectory tracking of free-floating space robots with prescribed transient performance[J].ROBOT,2013,35(5):607-614.]
[2]Huang P F,Cai J,Meng Zh J,et al.Novel method of monocular real-time feature point tracking for tethered space robots[J].Journal of Aerospace Engineering,2014,27(6):04014039.
[3]Bischof B,Kerstein L,Starke J,et al.ROGER-Robotic geostationary orbit restorer[J].Scientific Technology Series,2004,109:183-193.
[4]付国强,黄攀峰,陈凯,等.空间绳系机器人在轨捕获视景仿真系统设计[J].计算机测量与控制,2009,17(12):2513-2515.[Fu Guo-qiang,Huang Pan-feng,Chen Kai,et al.Design of visual simulation system of space tether robot on-orbit capture[J].Computer Measurement&Control,2009,17(12):2513-2515.]
[5]江刚武,龚辉,王净,等.空间飞行器交会对接相对位置和姿态的在轨自检校光学成像测量算法[J].宇航学报,2007,28(1):15-21.[Jiang Gang-wu,Gong Hui,Wang Jing,et al.The optical measurement of self-calibration in orbit spacecraft rendezvous and docking[J].Journal of Astronautics,2007,28(1):15-21.]
[6]王超,董正宏,尹航,等.空间目标在轨捕获技术研究综述[J].装备指挥技术学院学报,2013,24(4):63-66.[Wang Chao,Dong Zheng-hong,Yin Hang,et al.Research summaring of on-orbit capture technology for space target[J].Journal of Academy of Equipment,2013,24(4):63-66.]
[7]Thienel J K,Van Eepoel J M,Sanner R M.Accurate state estimation and tracking of a non-cooperative target vehicle[C].AIAA Guidance,Navigation,and Control Conference,Colorado,USA,August 21-24,2006.
[8]Inaba N,Oda M,Asano M.Rescuing a stranded satellite in space-experimental robotic capture of non-cooperative satellites[J].Japan Society for Aeronautical and Space Sciences,2006,48(162):213-220.
[9]徐文福,梁斌,李成,等.基于立体视觉的航天器相对位姿测量方法与仿真研究[J].宇航学报,2009,30(4):1421-1428.[Xu Wen-fu,Liang Bin,Li Cheng,et al.The approach and simulation study of the relative pose measurement between spacecrafts based on stereo vision[J].Journal of Astronautics,2009,30(4):1421-1428.]
[10]Ramirez V A,Gutierrez S A M,Yanez R E S.Quadrilateral detection using genetic algorithms[J].Computación y Sistemas,2011,15(2):181-193.
[11]刘晓丽,徐科军,高学海,等.一种非合作目标矩形面判定和顶点提取方法[J].合肥工业大学学报(自然科学版),2008,31(9):1358-1361.[Liu Xiao-li,Xu Ke-jun,Gao Xue-hai,et al.An approach of identifying rectangular plane and extracting its apexes for cuboid--shaped objects without markers[J].Journal of Hefei University of Technology(Natural Science),2008,31(9):1358-1361.]
[12]Alper Y,Omar J,Mubarak S.Object tracking:A survey[J].ACM Computing Surveys,2006,38(4):13.
[13]龚俊斌,明德烈,刘德坤,等.基于哈特莱变换的快速图像模板匹配算法[J].宇航学报,32(5):1115-1123.[Gong Jun-bin,Ming De-lie,Liu De-kun,et al.Fast image template matching algorithm based on discrete hartley transform[J].Journal of Astronautics,32(5):1115-1123.]
[14]Rosten E,Porter R,Drummond T.Faster and better:A machine learning approach to corner detection[J].IEEE Transactions on Pattern Analysis and Machine Intelligence,2010,32(1):105-119.
[15]Lin Y,Chunbo X.Template matching algorithm based on edge detection[C].International Symposium on Computer Science and Society,Kota Kinabalu,Malaysia,July 16-17,2011.
[16]逯新华,史忠科.基于动态模板匹配的空中运动目标检测与跟踪控制[J].电子测量与仪器学报,2010,24(10):935-941.[Lu Xin-hua,Shi Zhong-ke.Detection and tracking control for air moving target based on dynamic template matching[J].Journal of Electronic Measurement and Instrument,2010,24(10):935-941.]
[17]徐瑜,杨绍清,孙牧.最小二乘滤波在目标跟踪中的应用[J].指挥控制与仿真,29(4):41-42.[Xu Yu,Yang Shaoqing,Sun Mu.Application of least square filtering for target tracking[J].Command Control&Simulation,29(4):41-42.]
[18]曾德贤,董绪荣,李睿.航天器相对角度光学测量方法[C].中国智能自动化会议,兰州,2007年8月24-27日.[Zeng De-xian,Dong Xu-rong,Li Rui.Optical measurement for spacecraft relative angle[C].Chinese Intelligent Automation Conference,Lanzhou,August 24-27,2007.]
[19]史也,梁斌,徐文福,等.满足暂态性能约束的自由漂浮空间机器人反步自适应轨迹跟踪[J].机器人,2013,35(5):607-614.[Shi Ye,Liang Bin,Xu Wen-fu,et al.Adaptive back-stepping trajectory tracking of free-floating space robots with prescribed transient performance[J].ROBOT,2013,35(5):607-614.]