Safeguarded Teleoperation for Lunar Rovers
Safeguarded Teleoperation for Lunar Rovers
复制标题
月球车的受保障远程操作
DOI：
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发表时间：
1996
期刊：
影响因子：
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通讯作者：
Sven Koenig
中科院分区：
文献类型：
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作者：
E. Krotkov;R. Simmons;Fabio Gagliardi Cozman;Sven Koenig
在本文中，我们介绍了开发和验证延时远程驾驶受保护的远程操作方法的最新进展。这种方法使用命令融合策略共享流动站的控制：在良性情况下，我们通常远程驱动流动站；在危险情况下，流动站上运行的安全系统会覆盖用户命令以确保车辆安全。这种策略使用户满意，因为它允许他们驾驶（危险情况除外），同时保持流动站和任务的完整性。我们展示了未经训练的远程操作员在有或没有防护措施的情况下进行的实验结果，这些结果揭示了未来用户界面需要满足的需求。我们描述了防护方面的三项技术进步：将航位推算的准确性提高了 2 倍；将控制器的速度提高了 18 倍；以及开发基于区域而不是基于路径的避障规划器，以规避地图合并问题。最后，我们讨论了一项现场试验，该试验在 10 公里的行程中验证了该方法，证明了即使在恶意驾驶员的情况下，防护措施的有效性。
In this paper we present recent advances in developing and validating the safeguarded teleoperation approach to timedelayed remote driving. This approach shares control of the rover using a command fusion strategy: In benign situations, usus remotely drive the rover; in hazardous situations, a safeguarding system running on-board the rover overwrites user commands to ensure vehicle safety. This strategy satisfies users, because it allows them to drive (except in hazardous situations), while maintaining the integrity of the rover and mission. We present results from experiments on untrained teleoperators with and without safeguarding, which reveal needs to be met by future user interfaces. We describe three technical advances in safeguarding: improving the accuracy of dead reckoning by a factor of 2. speeding up the controller by a factor of 18, and developing an area-based rather than a path-based obstacle avoidance planner in order to circumvent map merging problems. Finally, we discuss a field trial validating the a p proach in a 10 km traverse, demonstrating the effectiveness of safeguarding, even with malicious drivers.