Project Discussion Report
Omni-Directional Docking Robot for Space Application
Group Members: Hardik, Harshvardhan, Ayushman, Vardhan, Siddharth
1. Group Objective
The objective of the project is to design, simulate, and implement an omni-directional
docking robot with 6 Degrees of Freedom (DOF) capable of performing autonomous
docking, localization, navigation, and connection in space environments. The sys-
tem will use computer vision, sensor fusion, and optimized control for precise operation
in microgravity.
2. Project Modules and Key Goals
• (a) Locate and Connect: Detect docking port using sensors and CV; align and
establish connection.
• (b) Navigate to Predetermined Position: Real-time trajectory planning from
random start point.
• (c) Localization and Connect: Use sensor fusion (IMU, camera, SLAM) for
accurate docking.
• (d) Chassis with 6 DOF: Mechanically allow X, Y, Z motion with roll, pitch, and
yaw.
• (e) Kinematic and Dynamic Modeling: Develop system equations; simulate
and design motor drives.
• (f ) Expert System Design: Implement AI-based control for autonomous docking
decisions.
3. Individual Objectives and Strategies
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Hardik and Harshvardhan – Mathematical Modeling
Objective: Derive full kinematic and dynamic models, including motor design and con-
trol optimization.
Strategy:
• Use Denavit–Hartenberg parameters for 6 DOF kinematics.
• Apply Newton-Euler or Lagrangian equations for dynamics.
• Design PID and LQR control systems.
• Simulate models using MATLAB or Python.
Ayushman – Trajectory Planning
Objective: Design 3D path planning algorithms for flat, drag, and clatter conditions.
Strategy:
• Use RRT, Bézier curves, and A* algorithms.
• Account for space-specific challenges like microgravity.
• Simulate pathing in ROS and Gazebo.
Siddharth – Implementation and Connection
Objective: Implement localization, real-time navigation, and docking connection logic.
Strategy:
• Sensor fusion using IMU, LIDAR, and visual markers.
• Final alignment using ArUco/QR code detection.
• Validate connection algorithms via simulation.
Vardhan – CV and Camera Integration
Objective: Integrate computer vision for object detection, navigation, and decision-
making.
Strategy:
• Use OpenCV and YOLO for object tracking.
• Implement stereo vision and depth estimation.
• Feed data to control logic in real-time.
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4. Project Workflow
Phase Description Tools/Technologies
Research Literature review, mission study NASA docs, ROS, whitepa-
pers
Modeling Kinematic/dynamic modeling, MATLAB, Python
simulation
CV Integration Object detection, training OpenCV, YOLO, Tensor-
Flow
6DOF Design Mechanical design SolidWorks, Fusion 360
Trajectory & Optimization algorithms ROS, MATLAB, C++
Control
Integration Docking and sensor fusion ROS + Gazebo
5. Data and Resources
• Kinematic and dynamic models for mobile robots in microgravity.
• Research papers on satellite docking and control theory.
• Public datasets for computer vision training.
• Simulation platforms: ROS, Gazebo, MATLAB.
• Hardware specifications of motors, IMUs, and cameras.
6. Expected Outcomes
• Full mathematical simulation of a 6 DOF docking robot.
• Working autonomous path planning and localization.
• Computer vision-based object detection.
• Intelligent docking and expert decision system.
• Simulated or partial physical prototype for demonstration.