Collision dynamics of target maker for visual navigation in small body exploration

Takashi Kubota, Shujiro Sawai, Tatsuaki Hashimoto, Junichiro Kawaguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

The MUSES-C mission is the world flrst sample and return attempt to or from the near Earth asteroid. In deep space, it is hard to navigate, guide, and control a spacecraft on a real-time basis remotely from the earth mainly due to the communication delay. So autonomy is required for final approach and landing to an unknown body. It is important to navigate and guide a spacecraft to the landing point without hitting rocks or big stones. In the final descent phase, cancellation of the horizontal speed relative to the surface of the landing site is essential. This paper describes various kinds of robotics technologies applied for MUSES-C mission. An autonomous descent scheme and a novel visual navigation system are proposed and presented in detail. The validity and the effectiveness of the proposed methods are confirmed and evaluated by numerical simulations and flight results.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages657-662
Number of pages6
DOIs
Publication statusPublished - 2006
Externally publishedYes
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Country/TerritoryChina
CityBeijing
Period06/10/906/10/15

Keywords

  • Artificial target marker
  • Autonomous landing system
  • Collision dynamics
  • Robotic exploration
  • Visual navigation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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