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

被引：0

作者：

Choset, H ^{[1
]}

Knepper, R ^{[1
]}

Flasher, J ^{[1
]}

Walker, S ^{[1
]}

Alford, A ^{[1
]}

Jackson, D ^{[1
]}

Kortenkamp, D ^{[1
]}

Burridge, R ^{[1
]}

Fernandez, J ^{[1
]}

机构：

[1] Carnegie Mellon Univ, Pittsburgh, PA 15213 USA

来源：

ICRA '99: IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-4, PROCEEDINGS | 1999年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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 first part of the paper describes a planar robot prototype autonomously moving about an air bearing table. The second part of this paper introduces a method for determining paths in the three-dimensions for efficient fuel use. Finally, this paper describes the software simulation of the path planner with the future space station.

引用

页码：1396 / 1403

页数：8

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