Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space

Howie Choset and D. Kortenkamp
ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 74 - 81.


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Abstract
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 describes the path planning method for the three-dimensional path planner and describes the software simulation of the path planner with the future space station.

Notes
Associated Lab(s) / Group(s): Biorobotics
Associated Project(s): Autonomous Extra-vehicular Robotic Camera
Number of pages: 8
Note: Also available in Proceedings of ICRA '99, Vol. 2, pp. 1396 - 1403

Text Reference
Howie Choset and D. Kortenkamp, "Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space," ASCE Journal of Aerospace Engineering, Vol. 12, No. 2, April, 1999, pp. 74 - 81.

BibTeX Reference
@article{Choset_1999_2869,
   author = "Howie Choset and D. Kortenkamp",
   title = "Path Planning and Control for AERCam, a Free-flying Inspection Robot in Space",
   journal = "ASCE Journal of Aerospace Engineering",
   pages = "74 - 81",
   month = "April",
   year = "1999",
   volume = "12",
   number = "2",
   Notes = "Also available in Proceedings of ICRA '99, Vol. 2, pp. 1396 - 1403"
}