Experiments in Teleoperator and Autonomous Control of Space Robotic Vehicles

This paper presents a program of research embracing teleoperator and automatic navigational control of freely-flying satellite robots. Current research goals include developing visual operator interfaces for improved vehicle teleoperation; determining the effects of different visual interface system designs on operator performance; and achieving autonomous, vision-based vehicle navigation and control. This research program combines virtual-environment teleoperation studies and neutral-buoyancy experiments using a space robot simulator vehicle currently under development. Visual-interface design options under investigation will include monoscopic versus stereoscopic displays and cameras, helmet-mounted versus panel-mounted display monitors, head-tracking versus fixed or manually steerable remote cameras, and provision of vehicle-fixed visual cues, or markers, in the remote scene for improved sensing of vehicle position, orientation, and motion. Autonomous-control research currently focuses on the development of the neutral-buoyancy vehicle and vision-based sensing systems required to support future automatic vehicle control experiments.