This paper presents a program of research embracing teleoperator and automatic navigational control of freely-flying satellite robots. Current research goals include developing visual operator interfaces for improved vehicle teleoperation; determining the effects of different visual interface system designs on operator performance; and achieving autonomous, vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space robot simulator vehicle currently under development. Visual-interface design options under investigation will include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion. Autonomous-control research currently focuses on the development of the neutral-buoyancy vehicle and vision-based sensing systems required to support future automatic vehicle control experiments.


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    Title :

    Experiments in Teleoperator and Autonomous Control of Space Robotic Vehicles


    Contributors:

    Published in:

    Publication date :

    1991-06-01


    Size :

    392910 byte



    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English





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