月球车实时遥操作方法研究
摘要
An online control platform was built based on virtual reality technology to control an unmanned lunar rover exploring the moon surface. 3-D topographic features of the lunar surface can be perceived and reconstructed with pictures taken by stereo cameras onboard the lunar rover. Combined with the telemetry data, a virtual full scene of the mission can be generated. Based on the terrain analysis, future probe points can be selected and path planning extracted. In particular, the future control plan for the rover can be visually verified. When the rover moves on the ground or probes some interesting rocks using its manipulator system, the whole process can be monitored in real time. Intervention commands can be transmitted to the rover at any time when necessary to change the control plan. Using a joystick or wheel, the rover on the moon can be controlled similarly to playing a racing car game. This online control platform can greatly improve the effectiveness and safety of teleoperation.