The RATTLE Motion Planning Algorithm for Robust Online Parametric Model Improvement With On-Orbit Validation
Year: 2022
Type: article
Abstract: Certain forms of uncertainty that robotic systems encounter can be explicitly learned within the context of a known model, like parametric model uncertainties such as mass and moments of inertia. Quantifying such parametric uncertainty is important for more accurate prediction of the system behavior, leading to safe and precise task execution. In tandem, providing a form of robustness guarantee against prevailing uncertainty levels like environmental disturbances and current model knowledge is also desirable. To that end, the authors' previously proposed RATTLE algorithm, a framework for online information-aware motion planning, is outlined and extended to enhance its applicability to real robotic systems. RATTLE provides a clear tradeoff between information-seeking motion and traditional goal-achieving motion and features online-adjustable models. Additionally, online-adjustable low level control robustness guarantees and a new method for automatic adjustment of information content down to a specified estimation precision is proposed. Results of extensive experimentation in microgravity using the Astrobee robots aboard the International Space Station and practical implementation details are presented, demonstrating RATTLE's capabilities for real-time, robust, online-adjustable, and model information-seeking motion planning capabilities under parametric uncertainty.
Language: English
Subfield: Computer Vision and Pattern Recognition
Field: Computer Science
Domain: Physical Sciences
Open Access status: green
Awards: THE RISKS AND CHALLENGES OF THE SPACE ENVIRONMENT HAVE LOGICALLY LED TO PROPOSALS TO USE ROBOTS TO PERFORM TASKS FOR EFFICIENCY AND SAFETY REASONS. ROBOTIC FREE FLYERS (AUTONOMOUS OR CONTROLLABLE ROBOTS THAT OPERATE IN MICROGRAVITY LOCAL TO A HOST) HAVE MULTIPLE ONGOING RESEARCH AREAS INCLUDING AUTONOMOUS DOCKING SYSTEMS VISUAL SIMULTANEOUS LOCALIZATION AND MAPPING (SLAM) OF SPACE ENVIRONMENTS CHARACTERIZING CONTROL METHODS FOR DOCKED/CONNECTED BODIES AND THE APPLICATION OF THESE AREAS TO VARIOUS PRACTICAL SITUATIONS. THE ONGOING DEVELOPMENT NEEDED TO INCREASE THE TECHNOLOGY READINESS LEVEL (TRL) OF ROBOTIC FREE FLYERS PROMISES TO ALLOW FOR THE PERFORMANCE OF TASKS PREVIOUSLY DELEGATED TO SCARCE ASTRONAUT ON-ORBIT TIME INCREASE MISSION SAFETY AND EVEN LAY THE GROUNDWORK FOR ON-ORBIT ASSEMBLY AND SERVICING TECHNIQUES. FREE FLYER RESEARCH IS LARGELY CONSTRAINED BY THE TESTBEDS AVAILABLE. THE SIGNIFICANCE OF RECENT UPGRADES TO THE MIT SPHERES SATELLITES ONBOARD THE ISS IS NOT OVERSTATED IN NOTING THAT THEY PROVIDE THE WORLD S FIRST RECONFIGURABLE ON-ORBIT TESTBED OF MULTI-SATELLITE DOCKING. RELATEDLY RESEARCH INTO FREE FLYING SPACE ROBOTIC MANIPULATORS COULD WELL BE APPLIED TO THE SPHERES TESTBED. APPLICATIONS OF MANIPULATORS TO FREE FLYERS INCLUDE THE ABILITY TO PERCH TO PREVENT FREE FLOATING. THE NASA TECHNOLOGY ROADMAPS POINT TO THE DEVELOPMENT OF ROBOTIC MOBILITY AND MANIPULATION SYSTEMS (TABS 4.2 AND 4.3). RECOGNIZING THE VALUE OF THE CURRENT CONFIGURATION OF THE HALO-ENABLED SPHERES TESTBED AND INTEREST IN SATELLITE/FREE FLYER MANIPULATION ACTIVITIES MY PROPOSED RESEARCH AIMS TO INVESTIGATE AREAS OF IMPROVEMENT IN FREE FLYER MANIPULATION CAPABILITY AND ITS APPLICATION IN ENHANCING BOTH IVA AND EVA MOBILITY. SPECIFICALLY THIS RESEARCH CAN BE BROKEN DOWN INTO THE FOLLOWING 3 OBJECTIVES: 1. DRIVE DEVELOPMENT OF THE MIT ARM OR SIMILAR FREE FLYER MANIPULATORS 2. DESIGN ALGORITHMS FOR USEFUL IVA/EVA APPLICATIONS OF FREE FLYER MANIPULATORS WITH AN EMPHASIS ON PERCHED ACTIVITY 3. VALIDATE FREE FLYER MANIPULATOR SYSTEMS THROUGH GROUND AND ON-ORBIT TEST SCENARIOS THE GOAL OF THIS STUDY IS TO INVESTIGATE MANIPULATOR DESIGNS FOR BOTH PERCHING AND GRAPPLING MANIPULATORS CREATING THE CONTROL ALGORITHMS NECESSARY FOR THEIR USE IN DOCKING AND OBJECT MANIPULATION AND TESTING THEIR SUCCESS IN GROUND ANALOGUES AND ON-ORBIT. SUITABLE ROBOTIC MANIPULATORS WILL BE DEVELOPED TO FULFILL BOTH THE PERCHING AND GRAPPLING ROLES FOLLOWED BY GROUND TESTS VERIFYING A SET OF CONTROL LAWS FOR MANEUVERS THAT HAVE APPLICABILITY IN FREE FLYER MOBILITY AND EVA/IVA MANIPULATION TASKS. ADDRESSING NASA TECHNOLOGY NEEDS THIS INVESTIGATION FURTHER OFFERS THE OPPORTUNITY TO EXPAND ON-ORBIT CONSTRUCTION CAPABILITY ASSIST WITH ASTRONAUT EVA/IVA ACTIVITIES AND INCREASE THE OVERALL EFFICIENCY AND SAFETY OF SPACEFLIGHT OPERATIONS., G5688757940
OpenAlex ID: W4290712063