嫦娥三号“玉兔号”巡视器遥操作中的关键技术
摘要
Chinas ChangE-3 lunar probe that consisted of the ChangE-3 lander and the Jade Rabbit rover successfully landed on the moon on December 14, 2013, which signaled the completion of the landing project in the second phase of the Chinese lunar reconnaissance mission. An important part of the ChangE-3 mission is that the Jade Rabbit rover travels over the surrounding unstructured environment and conducts scientific exploration under the control of the ground teleoperation center, which has a key role in the implementation of the lunar exploration mission. The teleoperation facility mainly includes four important capabilities: vision-based navigation and localization, reconstruction of lunar terrain, path planning for safe movement and motion planning of the robotic arm for scientific probing. These four parts jointly enable the Jade Rabbit rover to complete the lunar exploration mission successfully. This paper focuses on the current situation in the development and appli- cation of the four important technologies, and summarizes the main approaches. The application characteristics of the four technologies in the traveling and exploration of the Jade Rabbit rover are analyzed and their broad application perspectives are discussed. These will have a significant impact on the application of teleoperation technology in subsequent moon exploration missions and the future Mars exploration program.