Evaluation of tele-navigation system using Command Data Compensation

Long distance traversal by a remotely controlled rover is rendered difficult by measurement error on terrain data and communication time delays. Though an operator can select any desired path as a sequence of waypoints using a 3D terrain model evaluated by the on-board sensor, the model is error prone and the rover might collide with obstacles in its path. We present a rover that continuously updates its knowledge of the environment, and recalculates the difference between the original terrain data (used for initial path generation) and its latest acquired data. To this end, we have proposed the waypoint compensation method called Command Data Compensation (CDC) that uses the latest measurement data (assumed to be more reliable than the initial data). Such data automatically correspond to the path deviation [9] [10] [14]. In this paper, we evaluate whether CDC can help the rover safely navigate around obstacles, in terms of measure called the Safety Rate.