In this paper recent advances in developing and validating the safeguarded teleoperation approach to time-delayed remote driving are presented. This approach shares control of the rover using a command fusion strategy: In benign situations, a safeguarding system running on-board the rover overwrites user commands to ensure vehicle safety. This strategy satisfies users, because it allows them to drive (except in hazarduous situations), while maintaining the integrity of the rover and mission. Results from experiments on untrained teleoperators with and without safeguarding are presented, which reveal needs to be met by future user interfaces. Three technical advances in safeguarding are described: improving the accuracy of dead reckoning by a factor of 2, speeding up the controller by a factor of 18, and developing an area-based rather than a path-based obstacle avoidance planner in order to circumvent map merging problems. Finally, a field trial validating the approach in a 10 km traverse is discussed, demonstrating the effectiveness of safeguarding, even. with malicious drivers
Safeguarded teleoperation for lunar rovers
Gesicherte Fernlenkung von Mondfahrzeugen
SAE Technical Papers ; 1-10
1996
10 Seiten, 1 Tabelle, 24 Quellen
Aufsatz (Konferenz)
Englisch
Safeguarded Teleoperation for Lunar Rovers
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