Evaluation of Tele-Navigation System using Command Data Compensation and Field Test in Izu-oshima Volcanic Island, Japan

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.