Free-Flying Cabin Robot: Fan Thrust Station-Keeping

Assistant robots that float freely through a space station module — NASA's Astrobee, the ISS's CIMON — have nothing to roll or walk on, so every move is a thrust decision made by internal ducted fans under continuous PD control. This simulator flies one down a module corridor lined with equipment racks: pick a waypoint, tune the controller's position gain, damping and thrust ceiling, and watch the same overshoot/settle tradeoff that governs real free-flyer autopilots, with an optional obstacle-avoidance field bending the path around the hardware instead of into it.