Общая методология совместного применения операторного и автоматического управления движением лунохода в "ночных" кратерах на полюсах Луны

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С.П. Буслаев, В.А. Воронцов, О.С. Графодатский, А.М. Крайнов
12 Инженерный журнал: наука и инновации # 8·2017
Common methodology for joint application
of operator-driven and automated lunar rover motion
guidance in night-side craters on lunar poles
© S.P. Buslaev, V.A. Vorontsov, O.S. Grafodatskiy, A.M. Kraynov
Lavochkin Science and Production Association,
Khimki town, Moscow Region, 141400, Russia
The study considers issues of guiding lunar rover motion under insufficient illumination
conditions of the north and south lunar pole regions. We present options for operator-
driven and automated motion guidance. Operator-driven guidance means that a human
being (an operator) located at a remote control centre on the Earth or the Moon gener-
ates motion commands. The commands are transmitted to the rover by radio links. In the
case of automated guidance, motion commands are generated independently on board
the rover. We consider the case of automated motion guidance using on-board stereo tel-
evision cameras, when the rover employs their data and on-board software to construct
a three-dimensional grid of the terrain surface and automatically chart its path on it. We
compare advantages and disadvantages of operator-driven and automated lunar rover
motion guidance methods and work out the recommendations dealing with the logic of
their joint application in night-side lunar craters.
Keywords: lunar rover motion guidance, shadow in craters, machine vision system, path-
finding
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