Path planning and control for AERCam, a free-flying inspection robot in space

This paper describes a prototype robot and the necessary path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the Space Station. The robot will provide remote views t...

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Bibliographic Details
Main Authors: Choset, H., Knepper, R., Flasher, J., Walker, S., Alford, A., Jackson, D., Kortenkamp, D., Burridge, R., Fernandez, J.
Format: Conference Proceeding
Language:English
Subjects:
Cameras
Fuels
Inspection
Orbital robotics
Path planning
Prototypes
Robot vision systems
Software prototyping
Space shuttles
Space stations
Online Access:Request full text
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Description
Summary:This paper describes a prototype robot and the necessary path planning and control for space inspection applications. The robot is the first generation of a free-flying robotic camera that will assist astronauts in constructing and maintaining the Space Station. The robot will provide remote views to astronauts inside the Space Shuttle and future Space Station, and to ground controllers. The paper describes a planar robot prototype autonomously moving about an air bearing table, and introduces a method for determining paths in three-dimensions for efficient fuel use. Finally, the paper describes the software simulation of the path planner with the future Space Station.
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.1999.772556