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When a remote controlled rover traverses on planetary surfaces, it is difficult to realize the traversability of the long distance because there are measurement errors in the terrain data and the time delays in communication. A rover has a time lag until the rover reaches a measurement point. Since there might be a risk of the collision, the rover is required to get new environment data, which has more precise and less error however the new data have some differences from the old one. The wrong data also causes a severe problem, which makes the inappropriateness of operator's command path. Therefore, we proposed tele-driving method with Command Data Compensation (CDC). The CDC is a system of a path correction to adapt environment changes which improves the reliability of the command path. The efficacy of CDC system was evaluated by a lot of simulations and experiments. However, the correction performance of CDC system is reduced by a large measurement error in long-distance running, and then the correction path is bankrupt. In this paper, we consider the evaluation method for a degradation of the correction performance based on the matrix analysis, which detects the early signs of pre-path collapse.

In traversing a planetary surface by a remote controlled rover, it is difficult to realize long distance traversability because of measurement error on terrain data and communication time delays. Though an operator can select any desired path as a sequence of waypoints by using a 3D terrain model measured by the on-board sensor, the model includes much error and the path might be collided with obstacles. Here a rover continuously updates its knowledge of the environment, and can recalculate the difference between the original terrain data used for initial path generation and the latest data acquired by itself. Therefore, we have proposed the waypoint compensation method CDC by using the latest measurement data (which is assumed to be more reliable than the initial data) that automatically corresponds to the difference. In this paper, CDC is evaluated by various simulation results, and discussed about newly developed tele-navigation test-bed system with its hardware and software aspects. Experimental results of the system using the proposed algorithm are indicated by including field test in Izu-oshima island, and finally its new evaluation is discussed.