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

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

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

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

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
Also available in Proceedings of ICRA '99, Vol. 2, pp. 1396 - 1403

BibTeX Reference
@article{Choset-1999-14888,
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},
year = {1999},
month = {April},
volume = {12},
number = {2},
pages = {74 - 81},
}
2017-09-13T10:48:58+00:00