Research on intuitive controlling of unmanned Lunar Rover

We are developing teleoperation approach to timedelayed remote driving. This paper presents a complementary technique based on Virtual Reality for teleoperation with the communication delay between the Moon and the Earth. A realistic virtual environment and manual driving system was built with displaying and driving device. Combining the 3D terrain and telemetry, the full scene of rover mission can be generated virtually. Up on that, using driving device, the rover path can be planned on the virtual system directly and sent to the vehicle. When the rover moves on the ground or probes some interesting stone using this manipulator system, we can monitor the whole process in real time. The intervention order can be transmitted to the rover at any time if it is necessary to change the control plan. Using this manual controlling method, we can control the rover on the Moon just like playing a car race game. This online control platform can greatly improve our efficiency and emergency controlling ability.