Applying a layered control architecture to a free-flying space camera

Author

Kortenkamp, David ; MacMahon, Matt ; Ryan, Dan ; Bonasso, R. Peter ; Moreland, Linda

Author_Institution

NASA Johnson Space Center, Houston, TX, USA

fYear

1998

fDate

21-23 May 1998

Firstpage

188

Lastpage

194

Abstract

Describes a prototype robot for space 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 goal of the robot is to provide remote views to astronauts and ground controllers. The robot can autonomously move to locations on an air bearing table, can track targets and can plan paths. The robot contains a large collection of different technologies and this paper concentrates on a layered control architecture that integrates all robot functions

Keywords

aerospace control; artificial satellites; image sensors; intelligent control; mobile robots; motion control; path planning; robot vision; air bearing table; astronauts; free-flying space camera; ground controllers; layered control architecture; remote views; space station; Automatic control; Cameras; Communication system control; Global Positioning System; Hardware; NASA; Orbital robotics; Robot vision systems; Space shuttles; Velocity control;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligence and Systems, 1998. Proceedings., IEEE International Joint Symposia on

Conference_Location

Rockville, MD

Print_ISBN

0-8186-8548-4

Type

conf

DOI

10.1109/IJSIS.1998.685442

Filename

685442