Robotic Aircraft Refueling: A Concept Demonstration
Abstract
Application of robotic technologies to aircraft servicing is a research initiative at the Air Force Institute of Technology. Current efforts are concentrated on demonstrating a concept for semiautonomous ground based robotic refueling. Initially we are assuming that the aircraft's aerial refueling port is within the range space of the refueling manipulator. Navigation issues, while important, are not under investigation. We envision a shared system where a human positions the refueling arm in the vicinity of the aircraft and then allows the refueling port detection and nozzle insertion to be done automatically by a combination of visual servoing and compliant control. A testbed has been developed to support experimental evaluation of the enabling technologies necessary for autonomous refueling. Initial evaluations have successfully demonstrated algorithms for port detection, visual servoing, and compliant control of nozzle motion and insertion. Semi-autonomous robotic refueling is now feasible.
Document Details
- Document Type
- Technical Report
- Publication Date
- May 01, 1990
- Accession Number
- ADA578294
Entities
People
- M. B. Leahy Jr.
- R. Shipman
- V. W. Milholen
Organizations
- Air Force Institute of Technology