A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation

Dan Shen; Xingyu Xiang; Bin Jia; Zhonghai Wang; Genshe Chen; Erik Blasch; Khanh Pham

doi:10.1117/12.2304878

10 May 2018 A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation

Dan Shen, Xingyu Xiang, Bin Jia, Zhonghai Wang, Genshe Chen, Erik Blasch, Khanh Pham

Proceedings Volume 10641, Sensors and Systems for Space Applications XI; 106410E (2018) https://doi.org/10.1117/12.2304878
Event: SPIE Defense + Security, 2018, Orlando, FL, United States

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.

Conference Presentation

Citation Download Citation

Dan Shen, Xingyu Xiang, Bin Jia, Zhonghai Wang, Genshe Chen, Erik Blasch, and Khanh Pham "A robotic orbital emulator with lidar-based SLAM and AMCL for multiple entity pose estimation", Proc. SPIE 10641, Sensors and Systems for Space Applications XI, 106410E (10 May 2018); https://doi.org/10.1117/12.2304878

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available