It was previously reported that the series was set to return to screens, with filming due to begin last autumn.
He added: "The cast were all on board and I was told to start writing. Several months later, things were progressing and I had got two-thirds of the way through the script.
He added that the script would involve Craig Charles's character Lister going back in time to help his 23-year-old self escape from stasis, while Chris Barrie's Rimmer teams up with his younger self to hunt them down on behalf of JMC.
"It's been a privilege to work with Doug Naylor and the cast in a relationship that began with the Back to Earth specials, which premiered to 4 million viewers, and has subsequently produced three full series, a retrospective and Red Dwarf's first ever feature length, The Promised Land."
View Green Video on the source websiteHe described Naylor's script as "stunning" and added: "I don't know if this is giving anything away, but if you think that it's me at the age of 60 acting against me at the age of 23... it looks stunning, you're like, 'F**king hell, how did they do that?!'
Red Dwarf is available to watch on BBC iPlayer.
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