Astrobee Robot Software: Enabling Mobile Autonomy on the ISS

Fluckiger, Lorenzo ; Coltin, Brian

关键词: ASTROBEE 1500 ROCKET VEHICLE;    AUTONOMOUS DOCKING;    COMPUTER PROGRAMS;    INTERNATIONAL SPACE STATION;    OPEN PROJECT;    OPEN SOURCE LICENSING (COMPUTERS);    OPTIMIZATION;    ROBOTS;    SOFTWARE ENGINEERING;    TELEOPERATORS;   

RP-ID  :  ARC-E-DAA-TN68686

学科分类：软件

美国|英语

来源: NASA Technical Reports Server

【 摘 要 】

Astrobee is a new free-flyer robot designed to operate inside the International Space Station (ISS). Astrobee capabilities include markerless navigation, autonomous docking for recharge, perching on handrails to minimize power and modular payloads. Astrobee will operate without crew support, controlled by teleoperation, plan execution, or on-board third parties software. This slides presents the Astrobee Robot Software, a NASA Open-Source project, powering the Astrobee robot.The Astrobee Robot Software relies on a distributed architecture based on the Robot Operating System (ROS). We present the software approach, infrastructure required, and main software components.