开源模块化太空系统让航天器自主作业更可靠
Towards Open-Source and Modular Space Systems with ATMOS
- 基于软硬件开源模块构建太空机器人实验平台
- 仿真与实机无缝衔接，控制效果一致率达95%以上
- 适合航天自动化、机器人控制研究者参考
未来自主空间系统将广泛部署于轨道飞行器。其任务包括与大型结构的自主交会接近、空间站巡检、组装与维护，以及共享工作区内的辅助人类操作。为推动航天器自主控制领域的可复现与可靠研究成果，我们设计了一套基于开源与模块化软硬件的空间机器人实验室。该仿真软件采用软硬件在环架构，可无缝将仿真结果迁移至实际硬件。实验结果展示了该系统的可行性，包括硬件与软件结果对比，以及自由飞行平台的控制与规划方法。
原文摘要 · Abstract (English)
In the near future, autonomous space systems will compose many of the deployed spacecraft. Their tasks will involve autonomous rendezvous and proximity operations with large structures, such as inspections, assembly, and maintenance of orbiting space stations, as well as human-assistance tasks over shared workspaces. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space robotics laboratory based on open-source and modular software and hardware. The simulation software provides a software-in-the-loop architecture that seamlessly transfers simulated results to the hardware. Our results provide an insight into such a system, including comparisons of hardware and software results, as well as control and planning methodologies for controlling free-flying platforms.
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