中国空间科学技术2018，Vol.38Issue(1)：18-28,11.DOI:10.16708/j.cnki.1000-758X.2018.0014
空间机械臂抓捕动态目标快速稳定跟踪方法
Fast and stable tracking method for space manipulator capturing dynamic target
摘要
Abstract
According to the application requirements of space manipulator capturing of flying targets,the problem of tracking the cooperative targets in the close range rendezvous and docking was investigated,and a novel method including three main steps was proposed. Firstly,according to the target's luminescent property the feature selection algorithm was designed to eliminate the influence of invalid information.Secondly,using these features a method of similarity comparison between different frames and the strategy of template updating were investigated to solve the problem of invalidation of original features due to the variation of targets' orientation and illumination. Thirdly,aiming at the problem of accessing and coming out of the view field,a method of abandoning and retrieving targets was designed.Finally,simulation results show that the proposed approach is fast and robust, and it can realize tracking speed of 1 0 frame/s.关键词
机械臂抓捕/自主交会对接/连续自适应均值漂移算法/目标跟踪/反向投影Key words
manipulator capturing/autonomous rendezvous and docking/CamShift algorithm/object tracking/back project分类
信息技术与安全科学引用本文复制引用
王晓雪,刘传凯,王保丰,唐歌实,王镓,郭祥艳..空间机械臂抓捕动态目标快速稳定跟踪方法[J].中国空间科学技术,2018,38(1):18-28,11.基金项目
国家自然科学基金(61773047) （61773047）
