Man-Machine Control of Space Robots under Uncertainty
Abstract
Control problem of space robots is characterized by several challenges. The first one is that the area is full of uncertainties due to lack of information. Another difficulty is tasksharing between an operator and a partly autonomous robot. Moreover, there are several constrains on the robot operations, including communication delay and an appropriate temperature at which robot can work.
Design of the robots navigation should be based on consideration of trade-offs between several conflicting criteria, such as maximization of the robot safety, minimization of the energy consumption, maximization of the value of information collected by the robot during its movement.
Our research objective is to design man-machine interactive system, dealing with navigation problem of space robots. This paper focuses on the problem of path planning for small robot exploring a small asteroid. This problem is solved by an operator controlling the robot from Earth.
Design of the robots navigation should be based on consideration of trade-offs between several conflicting criteria, such as maximization of the robot safety, minimization of the energy consumption, maximization of the value of information collected by the robot during its movement.
Our research objective is to design man-machine interactive system, dealing with navigation problem of space robots. This paper focuses on the problem of path planning for small robot exploring a small asteroid. This problem is solved by an operator controlling the robot from Earth.