Analysis of mapping dispersion based on SVD for tele-navigation with command data compensation

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.