Lunar rover development involves a large amount of validation works in realistic operational conditions, including its mechanical subsystem and on-board software. The traditional simulation step is to construct model, input parameters, execute a simulation, and visualize the results. However, a more insight and higher productivity can be achieved if these activities are guided by human simultaneously. In this paper, a human-guided simulation method for China lunar rover simulation environment (CLRSE) that affords real time capabilities with high fidelity has been presented. It studied the input of kinematics simulation, analyzed a quick steering method of complex dynamic interactions between wheel and soft moon ground, and presented a way of path choosing by human guided. And the application which runs on PC Cluster and Silicon Graphics is also developed in this environment.

This paper presents a hybrid vision-based navigation method under virtual environment. It combines monocular vision and binocular stereo vision together to complement each other. Monocular vision completes the recognition and location as a macro-scene path plan,while binocular vision is for close-scence path plan and to avoid ovstacles in close distance. Meanwhile,a new path plan method which considers the rover's kinematics and dynamica factors is presented. The autonomous navigation module which would avoid the obstacles as well as shorten the distance for the rover to move has been integrated in the prototype system.

— The paper researched and presented a virtual simulation system based on a full-digital lunar terrain, integrated with kinematics and dynamics module as well as autonomous navigation simulation module. The system simulation models are established. Enabling technologies such as digital lunar surface module, kinematics and dynamics simulation, Autonomous navigation are investigated. A prototype system for lunar rover locomotion simulation is developed based on these technologies. Autonomous navigation is a key technology in lunar rover system, but rarely involved in virtual simulation system. An autonomous navigation simulation module have been integrated in this prototype system, which was proved by the simulation results that the synthetic simulation and visualizing analysis system are established in the system, and the system can provide efficient support for research on the autonomous navigation of lunar rover.

Autonomous navigation is a very important function for lunar rover, which plans a safe and efficient path by rapid detection and recognition of obstacles in a negotiable region. Simulation and verification of the navigation of lunar rover are very difficult, cost on the moon. The paper researches and presents a fusion monocular, binocular visual navigation of the hybrid method on virtual environment. It gives a monocular motion image vision navigation method to give a path planning for micro-scene, raw planning and a binocular stereo visual navigation method to avoid obstacles in close scene. Meanwhile we combine vision-based navigation into virtual simulation system based on a full-digital lunar terrain, integrated with kinematics and dynamics module. An autonomous navigation simulation module has been integrated in this prototype system, which was proved by the simulation results that the synthetic simulation and visualizing analysis system are established in the system; and the system can provide efficient support for research on the autonomous navigation of lunar rover.