Formal based operation strategy design for collaborative shared teleoperation system

The cooperative shared tele-operation technology is used to overcome the impact of satellite-earth communication delay and non-structural space environment. To get the appropriate collaborative shared teleoperation system operation sequence, the formal based operation strategy is proposed. Firstly, the task sequence algorithm is introduced. In the algorithm, GSPN (generalize stochastic Petri net) based task sequence models for teleoperation task are established and evaluated to work out the optimal task sequence. And the task sequence is turned into a working mode sequence. Then the working mode transform algorithm is designed in order to reach a fast and stable transform. Based on directed graph theory, the working mode topology graph is obtained. The optimal working mode transform steps can be derived by shortest path algorithm. Finally, unit replacement task is proposed as example to illustrate the operation strategy. The result in this paper can be used in cooperative shared teleoperation system design and on-orbit system task design. It also can be the auxiliary method for teleoperation operator.