Robotic Aircraft Refueling: A Concept Demonstration

Authors

M. B. Leahy Jr., Air Force Institutute of Technology
R. A. Bennett, Air Force Institutute of Technology
Y. C. Shiu, Wright State University
C. A. Anderson, Air Force Institutute of Technology

Document Type

Conference Proceeding

Publication Date

5-25-1990

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.

Comments

© 1990, IEEE

The "Link to Full Text" opens or saves the DTIC furnished copy of this conference paper.

DTIC ADA578294

DOI

10.1109/ICSYSE.1991.161143

Source Publication

IEEE 1991 International Conference on Systems Engineering

Recommended Citation

Leahy, Bennett, Shiu and Andersen, "Robotic aircraft refueling: a concept demonstration," IEEE 1991 International Conference on Systems Engineering, Dayton, OH, USA, 1991, pp. 320-323, doi: 10.1109/ICSYSE.1991.161143.