Task Description:
Software:
This work addresses path planning and control for space inspection applications using free flying robots, such as Aercam and the Personal Satellite Assistant. Aercam 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 Personal Satellite Assistant will fly inside the Space Station assisting astronauts with their tasks. Our contribution is the path planing for these free-flying robots. We already completed the planner for a planar robot prototype autonomously moving about an air bearing table. Now, we are working on the path planning method for the three-dimensional path planner and the software simulation of the path planner with the space station.
Project Leaders:
Pictures:
- Greg Dorais, NASA Ames
- David Kortenkamp, NASA JSC
- Howie Choset, CMU
