Research On Pridictive Display For Continuous Teleoperation Of Lunar Rovers

In recent years, a new round of lunar exploration springs up in the world scope. China also puts forward"Chang'e"plan to explore the lunar. The lunar rover is an important part of"Falling Lunar Exporation"project. Based on the pridictive display technology, the continuous teleoperation could control the lunar rover effectively. This article researchs on the pridictive display technology which exsits in the lunar rover continuous teleoperation.This article based on the achievement acquired on the terramechanics, using the software Vortex as a foundation platform which is developed by the CMLabs, Canada, developes a simulation platform for the lunar rover—ROSTDyn. Through the test, the simulation speed could reach to real-time. It supports a platform for the predictive display of the continuous teleoperation. Based on this platform, research is carried on some key technologies of teleoperation system: the design of this teleoperation system based on the pridictive display, the analysis of time-delay exsiting in this system, and the analysis of the working process of this system. This article emphasis on the analysises of the error between the prediction model and the real model. Based on the terramechanics model, the correction theory is researched, and the algorithm is raised which is based on the on-line correction of the prediction model, at last it is simulated and tested on ROSTDyn, and result demonsrates it is good. This article analyzes the stability and the transparency, and gives the conditions to accored with the stability and transparency, as a theory foundation of the implementation of this system.This article uses principle sample machine of the lunar rover to test the predictive precision of the developed simulation platform. This article designs two groups of experiments: climbing experiments and crossing-slope experiments, comparing the slip, the sinkage and the force between the wheel and the terrain of the experiment results and simulation results. The experiments shows the predictive precision of this platform is good, and could meet the need of the continuous teleoperation to the predictive display .This article supports a foundation for the implemention of the continuous teleoperation system for lunar rovers based on the pridictive dipay, through the development of the pridictive dipay platform and the research on the relative technologies.