Prior to achieving Permanent Manned Capability (PMC), there will be thousands of hours when Space Station Freedom (SSF) will be unattended (dormant or quiescent state). This time could be used productively in many way...
Prior to achieving Permanent Manned Capability (PMC), there will be thousands of hours when Space Station Freedom (SSF) will be unattended (dormant or quiescent state). This time could be used productively in many ways. Also, during mature SSF operations, there will be many demands of the time available to station astronauts and scientists. The need for extensive ground support and continuous parallel activities during rest periods and while preparing for Intra and Extra-Vehicular Activities (IVA and EVA) presents a formidable time scheduling problem. Astronaut time is an expensive commodity and all means of reducing the demand for on-orbit operator time should be investigated.
HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple camera...
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HERMIES-III is an autonomous robot comprised of a seven degree-of-freedom (DOF) manipulator designed for human scale tasks, a laser range finder, a sonar array, an omnidirectional wheel-driven chassis, multiple cameras, and a dual computer system containing a 16-node hypercube expandable to 128 nodes. The current experimental program involves performance of human-scale tasks (e.g., valve manipulation, use of tools), integration of a dexterous manipulator and platform motion in geometrically complex environments, and effective use of multiple cooperating robots (HERMIES-IIB and HERMIES-III). The environment in which the robots operate has been designed to include multiple valves, pipes, meters, obstacles on the floor, valves occluded from view, and multiple paths of differing navigation complexity. The ongoing research program supports the development of autonomous capability for HERMIES-IIB and III to perform complex navigation and manipulation under time constraints, while dealing with imprecise sensory information.
We present a real-time robot motion planner that is fast and complete to a resolution. The technique is guaranteed to find a path if one exists at the resolution, and all paths returned are safe. The planner can handl...
ISBN:
(纸本)9780897913447
We present a real-time robot motion planner that is fast and complete to a resolution. The technique is guaranteed to find a path if one exists at the resolution, and all paths returned are safe. The planner can handle any polyhedral geometry of robot and obstacles, including disjoint and highly concave unions of *** planner uses standard graphics hardware to rasterize configuration space obstacles into a series of bitmap slices, and then uses dynamic programming to create a navigation function (a discrete vector-valued function) and to calculate paths in this rasterized space. The motion paths which the planner produces are minimal with respect to an L1 (Manhattan) distance metric that includes rotation as well as *** examples are shown illustrating the competence of the planner at generating planar rotational and translational plans for complex two and three dimensional robots. Dynamic motion sequences, including complicated and non-obvious backtracking solutions, can be executed in real time.
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