Title :
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
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;
Conference_Titel :
Intelligence and Systems, 1998. Proceedings., IEEE International Joint Symposia on
Conference_Location :
Rockville, MD
Print_ISBN :
0-8186-8548-4
DOI :
10.1109/IJSIS.1998.685442