Toward Open-Source and Modular Space Systems with ATMOS (I)

Abstract

In the near future, most deployed spacecraft will be autonomous. Their tasks will involve autonomous rendezvous and proximity operations (RPOs) with large structures, such as inspection, assembly, and maintenance of orbiting space stations, as well as human-assistance tasks over shared workspaces. Yet, testing these capabilities remains challenging since microgravity conditions are difficult to simulate on Earth. Free-flying platforms, which replicate microgravity environments through nearly frictionless planar motion, have been used to provide a way to easily test and experiment on these systems without being in orbit. To promote replicable and reliable scientific results for autonomous control of spacecraft, we present the design of a space robotics platform based on open-source and modular software and hardware—the autonomy testbed for multipurpose orbiting systems (ATMOS). ATMOS uses thrusters and air bearings to achieve near-frictionless motion, thereby simulating spacecraft dynamics in two dimensions and enabling realistic testing of navigation and control algorithms on Earth. The simulation software provides a software-in-the-loop architecture that seamlessly transfers simulated results to the hardware. Our results provide an insight into the performance of such a system, including comparisons of hardware and software results, as well as control and planning methodologies for controlling free-flying platforms.