Autonomous On-Orbit Inspection, Servicing and Assembly

大型空间结构，如月球通道，需要有能力对其任何部分进行检查和维修。传统上，这是使用机械臂完成的，或者由宇航员离开航天器执行任务。然而，这样的任务可能需要在宇航员不在的情况下进行，或者机器人机械手可能无法到达所有区域。为了满足自我检查的需要，本提案将制定一种方法，收集可存放在空间站一部分并定期部署的小型机器人航天器，以自主进行检查。这项提议将为航天器开发方法，以便合作执行部分或整个结构的飞行，并自主检测、识别和修复任何问题。这项工作将涉及多个机器人检查器航天器的检查路径规划，以及这样一个关于大型结构的集合的导航。与国际空间站类似，月球门户(以及支持月球以外长期探索所需的其他大型空间结构)将太大，无法一体式发射，需要在轨道上组装。虽然在运送到月球附近之前，该结构的一些组装可能会在地球轨道上进行，但一些组装需要在月球附近进行，因为人类机组人员不容易到达月球附近。这项工作将为一组机器人航天器开发一种方法，以自主规划和执行大型空间结构的组装。这项工作将涉及合作路径规划，导航，以及相对于复杂空间结构的大型结构元素的合作操纵。

A large space structure, such as a lunar gateway, needs the ability to have any part of it inspected and serviced. This is traditionally accomplished using a robotic arm, or by an astronaut exiting the spacecraft to perform the task. However, such tasks may need to occur when an astronaut is not available, or the robotic manipulator may not be able to reach all areas. To address the need for self-inspection, this proposal will develop a method for a collection of small robotic spacecraft, which can be stowed in a part of the station and periodically deployed, to autonomously perform the inspection. This proposal will develop methods for the spacecraft to co-operatively perform a fly-around of a part or the entirety of the structure and to autonomously detect, identify and repair any problems. This work will involve inspection path planning for multiple robotic inspector spacecraft, as well as the navigation of such a collection about a large structure. Similar to the International Space Station, a lunar gateway (as well as other large space structures needed to support long-term exploration beyond the Moon) will be too large to launch in one piece and will require on-orbit assembly. While some assembly of the structure may take place in Earth orbit prior to transport to the lunar vicinity, some assembly will need to take place in the lunar vicinity, which is not readily accessible by a human crew. This work will develop a method for a collection of robotic spacecraft to autonomously plan and carry out the assembly of a large space structure. This work will involve co-operative path planning, navigation, and co-operative manipulation of large structural elements relative to a complex space structure.