Subsumption architecture control system for space proximity maneuvering

摘要

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.