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Collision Detection for Space Applications Using Photonic Mixer Devices
2013 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

As part of the FORROST (Forschungsverbund Robotische On-Orbit Servicing Technologien) project the applicability of Photonic Mixer Devices (PMD) for space rendezvous and docking is evaluated. Beneath pose estimation collision detection is an important part in autonomous close range maneuvers.This thesis presents a collision detection system especially designed for space applications. It is based on the previous work done on pose estimation from the 3D-imaging of PMD cameras. The position and orientation information from the pose estimation algorithm is provided via network connection or text file. It is used to calculate the future trajectories of the client and servicer spacecraft according to the Hill-Clohessy-Wiltshire equations. Oriented bounding boxes surround both spacecraft. Collision detection is based on intersection tests of the bounding boxes of servicer and client and their motion along the predicted trajectories.A user-friendly graphical user interface and 3D-animation is created. It presents the results of the algorithm, namely the collision time and the positions of both spacecraft at that time, and visualizes the servicer’s and client’s motion.To evaluate this system several scenarios including approaching, departing, ro- tating, by-passing and combinations of those were performed. Hardware-in-the- loop testing was accomplished in realtime. Two robot manipulators equipped with a client mockup model and a PMD camera were used together with the pose esti- mation software which is connected via network to the collision detection system.

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Keyword [sv]
URN: urn:nbn:se:ltu:diva-45284Local ID: 2ff25ee5-0a3a-4334-b79b-586ab4248506OAI: diva2:1018571
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level
Validerat; 20130501 (global_studentproject_submitter)Available from: 2016-10-04 Created: 2016-10-04Bibliographically approved

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Scharnagl, Julian

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