SLAM-Based Navigation Scheme for Pinpoint Landing on Small Celestial Body

被引:5
|
作者
Cocaud, Cedric [1 ]
Kubota, Takashi [2 ]
机构
[1] Univ Tokyo, Dept Elect Engn, Chuo Ku, Sagamihara, Kanagawa 2525210, Japan
[2] Inst Space & Astronaut Sci ISAS JAXA, Chuo Ku, Sagamihara, Kanagawa 2525210, Japan
关键词
localization; visual navigation; SLAM; small body exploration; AUTONOMOUS NAVIGATION; LOCALIZATION; SYSTEM; MARS; EXPLORATION; SPACECRAFT; GUIDANCE;
D O I
10.1080/01691864.2012.685227
中图分类号
TP24 [机器人技术];
学科分类号
080202 ; 1405 ;
摘要
Addressing the need for robust pinpoint landing capabilities, this paper proposes a monocular navigation scheme based on the Rao-Blackwellized particle filter simultaneous localization and mapping (SLAM) approach. The proposed online navigation scheme provides attitude and position (or pose) estimation during the approach, descent, and landing phase for small celestial body missions. This approach relies on one navigation camera and potentially sparse readings from one or more range sensors (e.g. LIDAR (Light Detection And Ranging)). The concept of the proposed navigation scheme is to maintain several hypotheses of the most likely spacecraft pose and landmarks position and to feed the most likely one to the spacecraft controller at any given time. The proposed system uses a double staged Monte-Carlo simulation that represents the population of all possible spacecraft motions between two camera images taken at successive time steps, and that samples this population over all possible scaling factors, converting each relative motion to world-scaled coordinates in the process. The purpose of this Monte-Carlo based visual pose estimation approach is to offer an alternative solution to the drift error and inaccuracy problems of SLAM kinematic models, odometry motion models, and other conventional dead reckoning techniques. (c) 2012 Taylor & Francis and The Robotics Society of Japan
引用
收藏
页码:1747 / 1770
页数:24
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