A testbed has been developed to support experimental evaluation of the enabling technologies necessary for autonomous refueling. The goal of the refueling research project was to demonstrate the component technologies for a robotic-refueling concept. The project was divided into two areas: visual servoing and compliant control. The research accomplishments that lead to a successful concept demonstration are described. The refueling testbed is outlined. Visual servoing research is reviewed. Implementation and analysis of compliant control of the nozzle is presented. Research directions are discussed. Initial evaluations have successfully demonstrated algorithms for port detection, visual servoing, and compliant control of nozzle motion and insertion.


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    Title :

    Robotic aircraft refueling: a concept demonstration


    Additional title:

    Flugzeugauftanken durch Roboter, eine Konzeptdemonstration


    Contributors:


    Publication date :

    1990


    Size :

    6 Seiten, 20 Quellen


    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




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