Laser guidance system for mobile robots

Tatsuya Arai Department of Aero/Astro, The University of Tokyo Naoki Matsuo Department of Aero/Astro, The University of Tokyo Noritaka Yamamoto Department of Aero/Astro, The University of Tokyo Takehisa Yairi RCAST, The University of Tokyo Kazuo Machida RCAST, The University of Tokyo SIMULATIONS AND EXPERIMENTS OF LASER GUIDANCE FOR FLYING EFFECTOR

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object]

[object Object],[object Object],Goal with markers Start ? ! Visible

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Laser receiver Reference path II Laser beam

[object Object],[object Object],[object Object],Pitch Yaw Half mirrors Photosensitive plate to detect reflective laser spots

[object Object],[object Object],Cross section Photosensitive plate

[object Object],[object Object],Half Mirror A Half Mirror B ΔX ΔY Δθpitch Δθyaw dΔX/dt dΔY/dt dΔθpitch/dt dΔθyaw/dt ΔZ1 ΔZ2 ΔX2 ΔX1 { = z = X {

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],0 0 0 0 0 0

[object Object],Cannot determine red or blue Require another half mirror

[object Object],Three spots At least the first 2 spots are reflective laser spots  Apply the equations to the first 2 spots

[object Object],START Detect positions of reflective laser spot (s) Estimate relative position, attitude, velocity and angular rate using Kalman Filter Calculate torque and thruster outputs Activate thrusters and reaction wheels z X u

[object Object],[object Object],[object Object],[object Object]

[object Object],[object Object],[object Object],Tether Gripper Cameras Micro-thrusters (Cold Gas) Reel

[object Object],[object Object]

[object Object],Guiding Flying Effector by using laser beam

[object Object],[object Object],[object Object],[object Object],[object Object]

[object Object],[object Object],Laser beam from robot arm Spacecraft with the laser receiver and actuators

[object Object],[object Object],Laser beam from the S/C Arm with the laser receiver and movable joints

[object Object],[object Object],X,dX/dt, Fx Y,dY/dt, Fy Pitch, pitch rate, Tp Yaw, yaw rate, Ty ,[object Object]

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Air table

[object Object],[object Object],Nozzle 1 ～ 8 RW Accumulator 2 Accumulator 1 Regulator Air bearing Regulator Batteries Compressors PC Laser receiver Thruster valves Actuator control box Analogue/Digital signal Power Air

[object Object],[object Object],4cm 8cm Dispersion Half mirrors Camera detects the spots Frost glass instead of photosensitive device

[object Object],[object Object],[object Object],[object Object],[object Object],[object Object],Y Z X

[object Object],[object Object],[object Object],Re-acquisition and return to the laser path Considering the case when Flying Effector misses the laser beam

[object Object],START Detect positions of reflective laser spot (s) Number of detected spot (s) Estimate relative position, attitude, velocity and angular rate Calculate torque and thruster outputs Activate thrusters and reaction wheels Use previous data to estimate relative position, attitude, velocity and angular rate 3 2,1,0

[object Object],[object Object],[object Object],[object Object],Reactive response to the laser beam Various path generation

Machida Laboratory Aero/Astro, The University of Tokyo http://www.space.rcast.u-tokyo.ac.jp/

Laser guidance system for mobile robots

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