ACTA AERONAUTICAET ASTRONAUTICA SINICA >
State of art and prospects of ground teleoperation technology for lunar rover
Received date: 2021-09-07
Revised date: 2021-10-09
Accepted date: 2022-01-25
Online published: 2022-02-28
Supported by
National Natural Science Foundation of China(52175007);China Postdoctoral Science Foundation(2018M630348);Self-Planned Task of State Key Laboratory of Robotics and System （HIT）(SKLRS202005B)
This paper analyzes the ground teleoperation technology of the lunar rover under the conditions of big Earth-Moon communication time delay and complex lunar surface， and reviews the current situation and progress of the control technology or the remote control technology for lunar rovers successfully launched by the Soviet Union， the United States and China. To overcome the low efficiency induced by the “move-wait” teleoperation mode， the key technologies for continuous teleoperation of the lunar rover are analyzed. Existing technologies of the ground wheeled mobile manipulator for kinematic constraints， small time-delay and multi-degree of freedom mapping are summarized， including the communication time-delay and time-delay compensation strategy， the longitudinal/lateral sliding caused by the soft soil on the lunar surface， and the robot teleoperation theory. The ground teleoperation technology of the lunar rover in the future lunar exploration project is also discussed.
Key words： lunar rover; ground teleoperation; big time-delay; soft terrain; dynamics
Weihua LI , Junlong GUO , Liang DING , Haibo GAO . State of art and prospects of ground teleoperation technology for lunar rover[J]. ACTA AERONAUTICAET ASTRONAUTICA SINICA, 2023 , 44(1) : 26333 -026333 . DOI: 10.7527/S1000-6893.2022.26333
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