| Autor: |
Nasir Hariri, Hector Gutierrez, John Rakoczy, Richard Howard, Ivan Bertaska |
| Jazyk: |
angličtina |
| Rok vydání: |
2020 |
| Předmět: |
|
| Zdroj: |
Robotics, Vol 9, Iss 3, p 70 (2020) |
| Druh dokumentu: |
article |
| ISSN: |
2218-6581 |
| DOI: |
10.3390/robotics9030070 |
| Popis: |
This paper presents the first demonstration of NASA’s Smartphone Video Guidance Sensor (SVGS) as real-time position and attitude estimator for proximity and formation maneuvers. An optimal linear quadratic Gaussian controller was used, combining a linear quadratic regulator and a Kalman filter. The system was demonstrated controlling the 3-degree of freedom planar motion of the RINGS ground units (Resonant Inductive Near-field Generation Systems). A state-space model of the system’s 3-DOF motion dynamics was derived, and model parameters extracted using a system identification technique. The system’s motion control performance is experimentally demonstrated in both tracking and formation maneuvers. The results highlight the capabilities and performance of the Smartphone Video Guidance Sensor (SVGS) as a vision-based real-time position and attitude sensor for motion control, formation flight and proximity operations. A leader-follower formation maneuver approach is demonstrated, as well as position hold and path following. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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