An autonomous docking simulation system based on monocular vision

In this paper, we present an autonomous docking simulation system based on a mobile robot and a monocular camera. This system consists of four loosely-coupled subsystems: kinetic subsystem, target recognition subsystem, autonomous control subsystem and wireless communication subsystem. Using this modularized architecture, this system is relatively stable and has higher robustness and efficiency. It is very effective in simulating the docking process of the spacecraft and can be useful to do further research in object recognition and orientation and in real-time control system based on visual feedback