1 February 1991 Subsumption architecture control system for space proximity maneuvering
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Proceedings Volume 1387, Cooperative Intelligent Robotics in Space; (1991) https://doi.org/10.1117/12.25427
Event: Advances in Intelligent Robotics Systems, 1990, Boston, MA, United States
Abstract
An approach to adding autonomy to a teleoperated robotic system designed for on-orbit proximity operations is discussed. In particular, a control system for performing a highly automated approach-to-dock proximity operation is described which has been developed using the subsumption architecture. The control system has been built by successively adding layers of continuously operating autonomy to a teleoperated system in which human operator control is treated as a level of autonomy exactly like the machine levels. The result is a control system evolution that smoothly allows the addition of levels of competence to ease the operator''s control burden. The operation of the control system is demonstrated using a simulation of the orbital environment and two spacecraft.
© (1991) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Herbert E. M. Viggh, Herbert E. M. Viggh, } "Subsumption architecture control system for space proximity maneuvering", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25427; https://doi.org/10.1117/12.25427
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