1) Researchers at the University of Tokyo propose a laser guidance system to guide small space robots and vehicles.
2) The system uses laser reflections detected by a receiver to estimate position and orientation errors and apply thruster and reaction wheel controls.
3) Simulations and 2D experiments validate the algorithm and show the system can guide an effector along a laser beam despite disturbances and temporary loss of the beam.
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Laser guidance system for mobile robots
1. Tatsuya Arai Department of Aero/Astro, The University of Tokyo Naoki Matsuo Department of Aero/Astro, The University of Tokyo Noritaka Yamamoto Department of Aero/Astro, The University of Tokyo Takehisa Yairi RCAST, The University of Tokyo Kazuo Machida RCAST, The University of Tokyo SIMULATIONS AND EXPERIMENTS OF LASER GUIDANCE FOR FLYING EFFECTOR
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44. Machida Laboratory Aero/Astro, The University of Tokyo http://www.space.rcast.u-tokyo.ac.jp/
Notes de l'éditeur
The large initial error case happens, for example, re-acquisition of the laser beam. While missing the laser beam, it is impossible to estimate correctly the current state without inertia sensor, especially if the system is disturbed. So even if you are lucky to re-gain the laser lights, the values will be different from what you estimated during missing laser period. So this experimental initial condition showed the feasibility of the re-estimation of the state after missing laser beam and disturbance during the period.
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