Abstract:

The problem of ground based teleoperation rendezvous in lunar orbit with large time delay under the condition of complex environment is studied in this paper. A predictive model is established based on the relative dynamics equations, and the telemetry measurements are used to correct the predictive states. Considering the large time delay and safe approaching constrains, an artificial potential function is proposed based on the artificial potential field. The predictive states are utilized by the artificial potential model to produce repulsive forces, which are used to enhance the human control signal. At last, the validity of the proposed method is demonstrated by semi physical simulation studies. Simulation results show that, the predictive shared control method is effective for alleviating the influence of time delay and complex environment, and the success probability and security can be improved.

Key words: Lunar orbit, Teleoperation rendezvous, Predictive shared control, Artificial potential field