Tele-driving system with command data compensation for long-range and wide-area planetary surface explore mission

摘要

We discuss a tele-driving method for long-range driving of a lunar rover. An operator uses a virtual world simulator to make a command path. The virtual environment of this simulator is constructed with measurement data from a rover on the moon. We have, however, a communication delay between the earth and the moon. So, there is a difference between old map data which the operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability for avoiding obstacles and to reach the goal. Therefore, to make the operator's command highly reliable, we propose Command-Data Compensation, which compensates this difference as the distortion of the environmental map.