This content is not included in
your SAE MOBILUS subscription, or you are not logged in.
Safeguarded Teleoperation for Lunar Rovers
Annotation ability available
Sector:
Language:
English
Abstract
In this paper we present recent advances in developing and validating the safeguarded teleoperation approach to time-delayed remote driving. This approach shares control of the rover using a command fusion strategy: In benign situations, users 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 approach in a 10 km traverse, demonstrating the effectiveness of safeguarding, even with malicious drivers.
Recommended Content
Authors
Citation
Krotkov, E., Simmons, R., Cozman, F., and Koenig, S., "Safeguarded Teleoperation for Lunar Rovers," SAE Technical Paper 961585, 1996, https://doi.org/10.4271/961585.Also In
References
- Balazs A. Biro J. Szalai S. Transputer-based onboard computer Proc. Workshop on Computer Vision for Space Applications 396 411 Antibes, France September 1993
- Boissier L. Marechal L. Rover demonstrator for Moon exploration Autonomous Robots 2 4 353 362 December 1995
- Brooks R. Maes P. Mataric M. More G. Lunar base construction robots Proc. IEEE Intl. Workshop on Intelligent Robots and Systems 389 392 Tsuchiura, Japan July 1990
- Chatila R. Lacroix S. Simeon T. Herrb M. Planetary exploration by a mobile robot: Mission teleprogramming and autonomous navigation Autonomous Robots 2 4 333 344 December 1995
- Fuke Y. Krotkov E. Dead reckoning for a lunar rover on uneven terrain Proc. IEEE Intl. Conf. Robotics and Automation Minneapolis April 1996
- Kay J. Thorpe C. STRIPE: Supervised telerobotics using incremental polygonal-earth geometry Proc. Intl. Conf. Intelligent Autonomous Systems Pittsburgh February 1993
- Kelly A. An intelligent predictive control approach to the high speed cross country autonomous navigation problem Technical Report CMU-CS-TR-95-33 Carnegie Mellon University 1995
- Krotkov E. Bares J. Katragadda L. Simmons R. Whittaker R. Lunar rover technology demonstrations with Dante and Ratler Proc. Intl. Symp. Artificial Intelligence, Robotics, and Automation for Space Jet Propulsion Laboratory Pasadena, California October 1994
- Krotkov E. Hebert M. Simmons R. Stereo perception and dead reckoning for a prototype lunar rover Autonomous Robots 2 4 313 331 December 1995
- Krotkov E. Simmons R. Perception, planning, and control for autonomous walking with the Ambler planetary rover Intl. J. Robotics Research 15 2 April 1996
- Lamboley M. Proy C. Rastel L. Trong T. Zashchirinski A. Buslaiev S. Marsokhod: Autonomous navigation tests on a Mars-like terrain Autonomous Robots 2 4 345 352 December 1995
- Lescoe P. Lavery D. Bedard R. Navigation of military and space unmanned ground vehicles in unstructured terrains Proc. Conf. on Military Robotic Applications September 1991
- Mathan S. Hyndman A. Fischer K. Blatz J. Brams D. Efficacy of a predictive display, steering device, and vehicle body representation in the operation of a lunar vehicle Human Factors in Computing Systems: CHI 96 Conference Companion Vancouver April 1996
- Matthies L. Stereo vision for planetary rovers: Stochastic modeling to near real-time implementation Intl. J. Computer VIsion 8 1 71 91 July 1992
- Matthies L. Gat E. Harrison R. Wilcox B. Volpe R. Litwin T. Mars microrover navigation: Performance evaluation and enhancement Autonomous Robots 2 4 291 312 December 1995
- Newman R. Time lag considerations in operator control of lunar vehicles from Earth Cummings C. Lawrence H. Technology of Lunar Exploration Academic Press 1962
- Pagnot R. Grandjean P. Fast cross-country navigation on fair terrains Proc. IEEE Intl. Conf. Robotics and Automation 2593 2598 Nagoya, Japan May 1995
- Parkes S. Gillions A. Price S. A processing architecture for space-based computer vision systems Proc. Workshop on Computer Vision for Space Applications 322 334 Antibes, France September 1993
- Proy C. Hotz B. Faugeras O. Gernesson P. Berhod M. Onboard vision system for a mobile planetary exploration robot Proc. Workshop on Computer Vision for Space Applications 2 12 Antibes, France September 1993
- Shirley D. Matijevic J. Mars Pathfinder microrover Autonomous Robots 2 4 283 290 December 1995
- Simmons R. Krotkov E. Chrisman L. Cozman F. Goodwin R. Hebert M. Heredia G. Koenig S. Muir P. Shinoda Y. Whittaker W. Mixed-mode control of navigation for a lunar rover Proc. SSI/Princeton Space Manufacturing Conference Princeton, New Jersey May 1995
- Simmons R. Krotkov E. Chrisman L. Cozman F. Goodwin R. Hebert M. Katragadda L. Koenig S. Krishnaswamy G. Shinoda Y. Whittaker W. Klarer P. Experience with rover navigation for lunar-like terrains Proc. Intl. Conf Intelligent Robotos and Systems (IROS) 441 446 Pittsburgh, Pennsylvania Aug. 1995
- Simmons R. Krotkov E. Katragadda L. Hebert M. Experience with rover navigation for lunar-like terrains Proc. Intl. Lunar Exploration Conf. San Diego, California November 1994
- Stentz A. The NAVLAB System for Mobile Robot Navigation Carnegie Mellon University 1989