Subsumption architecture control system for space proximity maneuvering

Herbert E. M. Viggh

doi:10.1117/12.25427

1 February 1991 Subsumption architecture control system for space proximity maneuvering

Herbert E. M. Viggh

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.

Citation Download Citation

Herbert E. M. Viggh "Subsumption architecture control system for space proximity maneuvering", Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); https://doi.org/10.1117/12.25427

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