Experiments in tele-operator and autonomous control of space robotic vehicles

Harold L. Alexander

doi:10.1117/12.25500

Abstract

A program of research is presented that embraces teleoperator and automatic navigational control of freelyflying satellite robots. Current research goals include developing visual operator interfaces for improved vehicle teleoperation studying the effects of different visual interface system designs and achieving autonomous visionbased vehicle navigation and control. This research program combines virtual-environment teleoperation studies with neutral-buoyancy experiments using a space robot simulator vehicle that is currently under development. Visualinterface design variables include monoscopic versus stereoscopic displays and cameras helmet-mounted versus panelmounted display monitors head-tracking versus fixed or manually steerable remote cameras and provision of vehiclefixed visual cues or markers in the remote scene for improved sensing of vehicle position orientation and motion. Autonomous-control work concentrates on developing the neutral-buoyancy vehicle and the vision-based sensing systems that will support automatic vehicle control experiments.

Citation Download Citation

Harold L. Alexander, Harold L. Alexander, "Experiments in tele-operator and autonomous control of space robotic vehicles", Proc. SPIE 1388, Mobile Robots V, (1 March 1991); doi: 10.1117/12.25500; https://doi.org/10.1117/12.25500

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