NASA Astrobee Robot Software  Astrobee Version:
Flight software for the Astrobee robots operating inside the International Space Station.
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Guidance, Navigation & Control

The Guidance, Navigation & Control subsystem is responsible for controlling the robot's motion.

GNC Subsystems

GNC consists of three main subsystems:

  1. Control (CTL) : The control subsystem takes the robot's current state from the localizer, and determines the forces and torques needed to execute the commands sent from the mobility subsystem.
  2. Force Allocation Module (FAM) : The force allocation module takes the force and torque commands from the control subsystem, and determines the PMC speeds and nozzle positions to best execute these forces and torques. This is a ROS package that calls the main functionality in the pmc module which does not depend on ROS.
  3. pmc: This module implements the main functionality of the FAM. It also simulates the PMC, converting PMC speeds and nozzle positions to forces and torques (the inverse of the force allocation module), used only in simulation.