Formation Flight Using Feature-Based Visual Servo Technique

摘要

This paper proposes a control scheme to achieve a formation flight of spacecrafts. This proposed method is based on a feature based visual servo technique, which uses image data taken by a camera and is applicable to controlling systems such as robot manipulator and vehicles installed with cameras. This technique does not require accurate current position and attitude data for controlling the system if the image data taken at the goal position/attitude is obtained in advance, because the current position and attitude can be determined from the difference between current visual data and goal image data. Thus, for the case that the measurement sensor is an on-board camera only, this technique is more desired one to achieve a formation flight. A numerical simulation for the proposed control is conducted to demonstrate the effectiveness of the present control scheme.