Fine space teleoperation method based on multi-information fusion perception

Abstract

Space teleoperation tasks will develop to be more fine and more complicated. However, the operator's capabilities of judgment and decision-making are limited in the existing space teleoperation tasks, and the operation is “wait and move”, of which the continuity is poor. Aiming at this situation, this paper puts forward a fine space teleoperation method base on multi-information fusion perception, which means that, through the fusion perception of multi-views visual information, meticulous collision warning information and full space virtual force information, the operator's perception capabilities for operation scenarios will be improved, and the operator is capable of making the decision and planning the robot's trajectory autonomously in the process of operation. Trajectory tracking and target approximation experiment results verified that, the method proposed in this paper improved the telepresence and immersion of the operator, and achieve a more fine, more flexible and more continuous operation.