为安全微重力自由飞行器检查架构化自主性
Architecting Autonomy for Safe Microgravity Free-Flyer Inspection
AI总结：
本文探讨了将自由飞行器任务需求转化为具体自主性架构决策的方法，重点在于规划与控制自主性，考虑了速度限制、指向和禁区等约束，并提供了系统需求和参考示例。
摘要：
小型自由飞行航天器可为未来的轨道 outpost 如月球门户提供至关重要的舱外活动 (EVA) 服务，如检查和维修。这些航天器需要正式化描述自由飞行器检查任务所需的自主性。本文探讨了将此类自由飞行器的一般任务需求转化为具体决策集，以支持此类任务的规划和控制自主性架构。从操作员对重要区域检查和任务时间敏感性的命令出发，出现了一个运动规划问题，为开发自主解决方案提供了基础。考虑了独特的约束，如速度限制、指向和保持/禁止区域，并提供了在模型不确定性和故障情况下的分层安全保证的后备技术。讨论了规划考虑因素，如成本函数设计和路径与轨迹控制。还提供了此类任务规划与控制自主性堆栈的典型输入和输出。记录了诸如解决时间和推进剂使用等典型系统需求，以指导规划和控制设计。整个提出的自由飞行器检查自主性框架在 SmallSatSim 模拟环境中实现，提供了自由飞行器检查自主性的参考示例。所提出的自主性架构为未来小型卫星在接近关键硬件的自主检查实施提供了蓝图，在现有文献方面在两个方面有所超越：（1）为自主检查任务提供现实的系统需求；（2）将这些需求转化为检查规划和控制的自主性设计决策。
英文摘要：
Small free-flying spacecraft can provide vital extravehicular activity (EVA) services like inspection and repair for future orbital outposts like the Lunar Gateway. Operating adjacent to delicate space station and microgravity targets, these spacecraft require formalization to describe the autonomy that a free-flyer inspection mission must provide. This work explores the transformation of general mission requirements for this class of free-flyer into a set of concrete decisions for the planning and control autonomy architectures that will power such missions. Flowing down from operator commands for inspection of important regions and mission time-criticality, a motion planning problem emerges that provides the basis for developing autonomy solutions. Unique constraints are considered such as velocity limitations, pointing, and keep-in/keep-out zones, with mission fallback techniques for providing hierarchical safety guarantees under model uncertainties and failure. Planning considerations such as cost function design and path vs. trajectory control are discussed. The typical inputs and outputs of the planning and control autonomy stack of such a mission are also provided. Notional system requirements such as solve times and propellant use are documented to inform planning and control design. The entire proposed autonomy framework for free-flyer inspection is realized in the SmallSatSim simulation environment, providing a reference example of free-flyer inspection autonomy. The proposed autonomy architecture serves as a blueprint for future implementations of small satellite autonomous inspection in proximity to mission-critical hardware, going beyond the existing literature in terms of both (1) providing realistic system requirements for an autonomous inspection mission and (2) translating these requirements into autonomy design decisions for inspection planning and control.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
