# Motion Simulation and Human-Computer Interaction System for Lunar Exploration
## 1 Introduction  
Rovers are indispensable in deep space exploration and can be used to perform scientific tasks over long distances. China's Jade Rabbit rover has successfully completed its work on the moon. However, compared with unmanned rovers, the operation of a manned rover is quite different. The only manned lunar rovers used so far have been on the Apollo 15, 16, and 17 missions of the early 1970s [1]. When planning lunar rover missions, it is important to develop intuition and driving skills for alien environments before incurring the cost of reaching the moon. Simulators make it possible to operate in environments that have the physical characteristics of target locations without the expense and overhead of extensive physical tests. Research on manned rover simulators was carried out in the 1960s and 1970s, including the simulator in the US Apollo program and the manned rover simulator in the former Soviet Union [2]. In the Apollo project, simulator training accounted for one-third of total training time. It is an important and irreplaceable part of training to develop the driving skills of astronauts. Restricted by computer technology, these simulators adopted semi-physical simulations and physical simulations--thereby reproducing the visual and motion states of lunar driving [3]. Researchers have developed space-based suspension technology or ground-based motion platforms to realize the simulation of motion perception [4]. Training can also be carried out in environments on the earth similar to the moon, such as deserts, gravel deserts, and other areas, causing high costs. In recent years, lunar rover simulation has mainly focused on lunar environment simulations and rover motion simulations. [PERSON] et al. constructed a simulated lunar environment with high resolution terrain suitable for rover driving, using the open-source Gazeboplatform and tools from the ROS ecosystem [5]. [PERSON] et al. produced a 100 m \(\times\) 100 m digital terrain using the random diameters method, in the form of a digital evaluation model (DEM) containing 25 \(\times\) 10\({}^{4}\) grid points [6]. The Boeing Company developed a terrain simulation system consisting of a 9-square-kilometer \"lunar surface\", according to the data obtained from the experiments of the Apollo 15 [7]. [PERSON] et al. developed a real-time 3D visualization system to study the dynamics modeling and control problem of a six-wheel rocker-bogie lunar rover, and simulated the rover's motion and wheel-terrain interactions [8]. [PERSON] et al. established a model of a lunar rover based on plastoelastic terramechanics and multibody dynamics, simulating the relationship between the wheels and the terrain [9]. ROAMS (Rover Analysis, Modeling and Simulation) developed by the Jet Propulsion Laboratory of the California Institute of Technology is a multi-mission rover simulation software capable of modeling a closed-loop system and establishing terrain/vehicle interactions [10]. This paper proposes a lunar exploration motion simulation and human-computer interaction system with low cost, strong immersion, rich interactive functions, and convenient training. This paper introduces this proposal from a systems perspective and is divided into five parts. Section 2 briefly introduces the hardware of the system--which is the interactive operating platform--and the virtual environment, including the creation of the rover and terrain model, the motion simulation algorithm and its realization, the creation of the posture adjustment system, and the realization of path planning. Section 2 introduces the human-computer interaction method of the system. Section 3 discusses the testing of the motion simulation and human-computer interaction method. Finally, Section 4 gives the conclusions and discusses future work. This paper's main contributions lie in the following:  
* We designed a motion simulation method based on a 6-DOF platform.