Command data compensation for real-time tele-driving system on lunar rover: Micro-5

We discuss a tele-driving system for distant driving of a lunar rover, and describe our newly developed small, lightweight lunar rover called Micro-5 and its visual sensor system. The operator uses a virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from the rover on the moon. However, there is a communication delay between the earth and the moon. So, there is a difference between the old map data which the operator used for path planning and the new data which the rover is tracking. The operator´s path command is thus less reliable to avoid obstacles and to reach the goal. Therefore, to achieve a highly reliable operator´s command, we propose a command-data compensation approach which compensates this difference as the distortion of the environmental map.