Human machine cooperative tele-driving system with command path compensation algorithm

In operation environment with communication time delay, it´s difficult to compose a closed loop control structure between a master and slave system, and then, some scheme to achieve the stability is necessary. In this paper, we discuss and evaluate our proposed human machine cooperative tele-drive system consisted of global and local path-planning, for a long range traversability. Operator can command any desired path as waypoint sequences, by using 3D terrain model which was measured as DEM by on-board sensor of a rover and then transmitted to the ground and evaluated with dangerousness. For corresponding to unknown obstacle, a conventional autonomous path-planning algorithm is applied between each waypoint. In addition, a rover is up-dating environment data set, and then it causes the difference between terrain data used for commanding of an operator and for traversing of a rover. Therefore, we have to compensate waypoints by using the latest measurement data which can be assumed more reliable than previous data, for corresponding to the difference automatically. Here, the difference is assumed as the distortion between each data set, and compensated by using a distortion compensation matrix which is the mapping between the old and new terrain data sets. Simulation and experimental results and its evaluations, by using the rover test-bed, are mentioned