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Proceedings Paper

A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation
Author(s): Dan Shen; Xingyu Xiang; Bin Jia; Zhonghai Wang; Genshe Chen; Erik Blasch; Khanh Pham
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Paper Abstract

This paper revises and evaluates an orbital emulator (OE) for space situational awareness (SSA). The OE can produce 3D satellite movements using capabilities generated from omni-wheeled robot and robotic arm motions. The 3D motion of satellite is partitioned into the movements in the equatorial plane and the up-down motions in the vertical plane. The 3D actions are emulated by omni-wheeled robot models while the up-down motions are performed by a stepped-motorcontrolled- ball along a rod (robotic arm), which is attached to the robot. Lidar only measurements are used to estimate the pose information of the multiple robots. SLAM (simultaneous localization and mapping) is running on one robot to generate the map and compute the pose for the robot. Based on the SLAM map maintained by the robot, the other robots run the adaptive Monte Carlo localization (AMCL) method to estimate their poses. The controller is designed to guide the robot to follow a given orbit. The controllability is analyzed by using a feedback linearization method. Experiments are conducted to show the convergence of AMCL and the orbit tracking performance.

Paper Details

Date Published: 10 May 2018
PDF: 10 pages
Proc. SPIE 10641, Sensors and Systems for Space Applications XI, 106410E (10 May 2018); doi: 10.1117/12.2304878
Show Author Affiliations
Dan Shen, Intelligent Fusion Technology, Inc. (United States)
Xingyu Xiang, Intelligent Fusion Technology, Inc. (United States)
Bin Jia, Intelligent Fusion Technology, Inc. (United States)
Zhonghai Wang, Intelligent Fusion Technology, Inc. (United States)
Genshe Chen, Intelligent Fusion Technology, Inc. (United States)
Erik Blasch, Air Force Office of Scientific Research (United States)
Khanh Pham, Air Force Research Lab. (United States)

Published in SPIE Proceedings Vol. 10641:
Sensors and Systems for Space Applications XI
Khanh D. Pham; Genshe Chen, Editor(s)

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