A testbed has been built in order to check the feasibility of remote control of a lunar rover in the presence of important time delays with low-rate communications, as well as to demonstrate the capability of autonomous motion during communications blackout periods. A testbed consists of a 6 x 6 vehicle able to move on a moon-representative terrain, either in an autonomous mode or in low-communication-rate teleoperation. The vehicle, its control and the results obtained during the tests are described. There are different control systems with the predictive display, depending on the availability of position information and its use, either on the ground or on-board. With the single feedback predictive teleoperation there is no localization system on the vehicle, and there is no reliable or available odometry; the only feedback that can implemented is based on the periodic DTM (Digital Terrain Model) that enables position information to inferred at a low rate (0,1 Hz) and with an important delay (10 s). With the double feedback predictive teleoperation there is a localization system on the vehicle, that provides the ground segment with real positional information (absolute or relative) at a higher rate (greater than 2 Hz) and with a shorter delay (5 s) than the DTM. With the predictive teleoperation with shared control there is a localization system on the vehicle, and the positional information is now used on-board. The main limitations to the autonomous path finding come from the precision of path execution on one side, and the field of view when a single perception is used, on the other. Its application of the teleoperation remains limited to the moon: the transmission delays to other planets will not allow reliable enough predictive models for continuous driving.


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    Title :

    Autonomy and remote control experiment for lunar rover mission


    Additional title:

    Autonome Lageregelung und Funkfernsteuerung eines Mondfahrzeuges


    Contributors:
    Maurette, M. (author) / Boissier, L. (author) / Delpech, M. (author) / Proy, C. (author) / Quere, C. (author)

    Published in:

    Publication date :

    1997


    Size :

    7 Seiten, 8 Bilder, 4 Quellen




    Type of media :

    Article (Journal)


    Type of material :

    Print


    Language :

    English




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