Autonomous On-Orbit Inspection, Servicing and Assembly

大型空间结构，如月球门户，需要能够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，这些任务可能需要在宇航员不可用时进行，或者机器人操纵器可能无法到达所有区域。为了满足自我检查的需要，该建议将开发一种方法，用于收集小型机器人航天器，这些航天器可存放在空间站的一部分并定期部署，以自动进行检查。该提案将为航天器制定方法，以合作执行部分或整个结构的环绕飞行，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视察员航天器的视察路径规划，以及围绕一个大型结构对这类集合进行导航。与国际空间站类似，月球网关（以及支持月球以外长期探索所需的其他大型空间结构）太大，无法整体发射，需要在轨组装。虽然在运输到月球附近之前，一些结构的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，这是人类船员不容易接近的。这项工作将为一组机器人航天器自主规划和组装大型空间结构开发一种方法。这项工作将涉及合作的路径规划，导航，以及相对于一个复杂的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.