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Robotic aircraft refueling: a concept demonstration

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4 Author(s)
Leahy, M.B., Jr. ; Dept. of Electr. & Comput. Eng., Air Force Inst. of Technol., Wright-Patterson AFB, OH, USA ; Bennett, R.A. ; Shiu, Y.C. ; Andersen, C.A.

A shared system in which a human positions the refueling arm in the vicinity of an aircraft and then allows the refueling port detection and nozzle insertion to be done automatically by a combination of visual servoing and compliant control is discussed. Experimental concept evaluations have successfully demonstrated algorithms for port detection, visual servoing, and compliant control of nozzle motion and insertion. A project overview is provided.<>

Published in:

Systems Engineering, 1991., IEEE International Conference on

Date of Conference:

1-3 Aug. 1993