Space robotics technologies are a set of latest technologies designed specifically for space exploration missions which include both planetary, mostly science—driven ones, and on-orbit missions. This chapter provides a high-level introduction to these technologies with a focus on the advanced features of space robotics including perceptionPerception \b of the space robotic systems, intelligent control for a potential full autonomous mission execution, and space robotic motion planningPlanning \b and real-time control. In the perceptionPerception \b section, it is necessary to introduce the important requirements for perceptionPerception \b for space missions. Based on these special requirements, the sensing methods are introduced focusing on the space-related environmental perceptionPerception \b sensing method and associated sensing technologies and devices. This is followed by modelling in sensing and software engineering processes for perceptionPerception \b. Similar to other sensing technologies, perceptionPerception \b-focused sensing also requires calibration and this is briefly introduced. A key technique in perceptionPerception \b is the data fusionFusion of signals from several sensing devices and this is detailed in order to provide a good grounding of data fusionFusion techniques. A particular research-based approach called InFuse is introduced here as an example data fusion system. Autonomous navigationNavigation \b and task execution is a high-level ambition for many space exploration missions. With an understanding of the data fusion techniques, a detailed understanding of the environmentEnvironment \b where a space robot operates can be achieved by applying perceptionPerception \b processing. This is realised by generating a common data fusion frameworkFusionfusion framework \i, and data fusion techniques used within the framework for both planetary exploration and orbitalOrbital" \i missions are detailed in this chapter. Space mission planningPlanning \b with a view to autonomous mission execution is introduced and the multiple robotic planningPlanning \band reconfigurationReconfiguration \b concept is introduced, which is further explained in another chapter. Finally motion planningPlanning \b and control of space robots are discussed.
Space Robotics Technologies: Perception for Autonomy
Space Robotics ; Chapter : 3 ; 49-96
2024-12-12
48 pages
Article/Chapter (Book)
Electronic Resource
English
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