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Proceedings Paper

Subsumption architecture control system for space proximity maneuvering
Author(s): Herbert E. M. Viggh
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Paper 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.

Paper Details

Date Published: 1 February 1991
PDF: 13 pages
Proc. SPIE 1387, Cooperative Intelligent Robotics in Space, (1 February 1991); doi: 10.1117/12.25427
Show Author Affiliations
Herbert E. M. Viggh, Boeing Aerospace and Electronics Co. (United States)

Published in SPIE Proceedings Vol. 1387:
Cooperative Intelligent Robotics in Space
Rui J. P. de Figueiredo; William E. Stoney, Editor(s)

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