Control architecture and operator interface for a free-flying robotic vehicle

Space and underwater vehicles with robotic arms can severely tax the capability of conventional control systems. Submersible vehicles used in neutral buoyancy simulation are subject to even greater demands since they must simulate the dynamics of spacecraft on orbit as well as function as a remotely-operated underwater vehicle. In this report, the onboard control architecture, human-machine interface, and vehicle/operator communications are described for one such vehicle in operation at the University of Maryland Neutral Buoyancy Research Facility (NBRF). The Ranger Neutral Buoyancy Vehicle (RNBV) exemplifies the high-dimensional, computationally intensive nature of the current fleet of autonomous underwater vehicles while its complement of four manipulators exceeds the capabilities of most remotely operated vehicles in service today. The sensor-based, embedded onboard control system is described, and its implementation using multiple control stations is discussed.