Torque control algorithm and its simulation of capturing a moving target for free flying space robots

In this paper, a new contour following approach is proposed to deal with the broken edge gaps in the binarized images. The new approach makes it possible to skip the gaps by means of taking adaptive steps. Hence the real contours can be found. In this approach, the boundaries are output in forms of polygons which have the advantage that density of sample points is closely related to the curvature of boundaries.