Command path compensation algorithm for rover tele-driving system and its evaluation

In this paper, we discuss tele-driving method for a long driving of a mobile robot in the natural field and experimental results are shown. An operator uses virtual world simulator to make command path. The virtual environment of this simulator is constructed with measurement data from a rover. We have, however, a communication delay between the control station and the remote site. So, there is the difference between old map data which operator used for path planning and new data, which a rover is tracking on. The operator's path command has less reliability to avoid obstacles and to reach the goal. Therefore, to make high reliability of operator's command, we propose command-data compensation (CDC), which compensates this difference as the distortion of the environmental map