月球车地面遥操作技术发展现状与未来展望  

State of art and prospects of ground teleoperation technology for lunar rover

作　　者：李卫华 郭军龙 丁亮[2] 高海波[2] LI Weihua;GUO Junlong;DING Liang;GAO Haibo(School of Automotive Engineering,Harbin Institute of Technology(Weihai),Weihai 264201,China;School of Mechatronics Engineering,Harbin Institute of Technology,Harbin 150001,China)

机构地区：[1]哈尔滨工业大学(威海)汽车工程学院,威海264201 [2]哈尔滨工业大学机电工程学院,哈尔滨150001

出　　处：《航空学报》2023年第1期157-176,共20页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(52175007,51705096);中国博士后科学基金(2018M630348,2019T120259);机器人技术与系统国家重点实验室自主课题(SKLRS202005B)。

摘　　要：针对月球车在地球-月球大通信时延、月表复杂环境下的地面遥操作技术进行了分析,回顾了苏联、美国、中国已成功发射月球车的控制技术或者远程控制技术现状。为了解决当前月球车采用的“移动-等待”模式低效率难点,结合地面轮式移动机械臂在运动学约束、小时延、多自由度映射等方面的技术现状,从通信时延及时延补偿策略、月表松软月壤带来的纵向/侧向滑动、机器人遥操作理论等3个方面,对月球车进行连续遥操作所面临的关键技术进行了梳理。最后,对未来月球探测工程中的月球车地面遥操作技术发展方向进行了展望。This paper analyzes the ground teleoperation technology of the lunar rover under the conditions of big Earth-Moon communication time delay and complex lunar surface,and reviews the current situation and progress of the control technology or the remote control technology for lunar rovers successfully launched by the Soviet Union,the United States and China.To overcome the low efficiency induced by the“move-wait”teleoperation mode,the key technologies for continuous teleoperation of the lunar rover are analyzed.Existing technologies of the ground wheeled mobile manipulator for kinematic constraints,small time-delay and multi-degree of freedom mapping are summarized,including the communication time-delay and time-delay compensation strategy,the longitudinal/lateral sliding caused by the soft soil on the lunar surface,and the robot teleoperation theory.The ground teleoperation technology of the lunar rover in the future lunar exploration project is also discussed.

关 键 词：月球车 地面遥操作 大时延 松软地形 动力学 

分 类 号：V448.2[航空宇航科学与技术—飞行器设计]