# Topological Navigation and Localization in
## 5 Results and Discussion
The maximum speed achieved by the autonomous system was 11.3 [km/h] with a loaded bucket, while the seasoned operator achieved a maximum speed of 10.6 [km/h] with an empty bucket. Figure 15: Instant speed, operation mode, distance traveled, wireless communication channel, RSSI, and noise for dataset 1. It can be seen in the selected areas that the LHD comes to a stop when switching between different access points, or when the communication network becomes unstable. The Navigation time is either an autonomous navigation time or a manual operation time, depending on the dataset. Stop time is the time the machine was stopped, which includes the time at the start and the end of each dataset. Tele-operation time is the amount of time spent tele-operating the LHD so that it is able to resume autonomous tele-operation, usually because the autonomous navigation system didn't approach a curve appropriately, and reached a point where it didn't know how to proceed. The LHD was able to go through the tunnel without remote assistance in only 6 datasets, but it is important to remember the time spent to the next dataset. Figure 16: Instant speed, operation mode, distance traveled, and wireless communication channel for dataset 5. \begin{table}
\begin{tabular}{c c c c c c c c c c} \hline \hline \multirow{2}{*}{ID} & \multicolumn{2}{c}{Mean Speed} & \multicolumn{2}{c}{Max Speed} & \multirow{2}{*}{**Length [s]**} & \multicolumn{2}{c}{**Nax. Time**} & \multicolumn{2}{c}{**Stop Time**} & \multicolumn{2}{c}{**TopTime**} & \multicolumn{2}{c}{**TopTime**} & \multicolumn{2}{c}{**TD [m]**} & \multicolumn{2}{c}{**TAD [m]**} & \multicolumn{2}{c}{**E/L B**} & \multicolumn{2}{c}{**H F/B**} \\  & [km/h] & [km/h] & & **Length [s]** & **[s]** & **[s]** & **[s]** & **[s]** & **TD [m]** & **TAD [m]** & **E/L B** & **H F/B** \\ \hline
1 & 6.01 & 9.50 & 127.4 & 109.3 & 18.1 & 0.0 & 182.6 & 182.6 & E & F \\
2 & 4.80 & 10.80 & 189.7 & 139.4 & 38.1 & 12.2 & 184.4 & 185.8 & L & B \\
3 & 6.06 & 9.80 & 215.6 & 112.1 & 21.6 & 81.8 & 183.2 & 188.7 & E & F \\
4 & 4.23 & 9.60 & 300.8 & 154.2 & 117.1 & 29.5 & 187.2 & 181.7 & L & B \\
5 & 5.91 & 9.90 & 150.8 & 109.5 & 41.3 & 0.0 & 179.6 & 179.6 & E & F \\
6 & 4.58 & 9.00 & 169.0 & 105.6 & 63.4 & 0.0 & 134.4 & 134.4 & L & B \\
7 & 5.98 & 9.70 & 143.6 & 111.4 & 25.3 & 6.9 & 191.0 & 185.4 & E & F \\
8 & 4.15 & 10.50 & 336.0 & 192.2 & 69.0 & 74.8 & 174.8 & 221.8 & L & B \\
9 & 5.54 & 9.40 & 172.9 & 126.1 & 25.7 & 21.1 & 182.1 & 194.6 & E & F \\
10 & 4.94 & 10.20 & 205.6 & 134.5 & 46.6 & 24.5 & 172.8 & 184.6 & L & B \\
11 & 5.33 & 9.70 & 323.9 & 159.0 & 84.7 & 80.2 & 174.3 & 235.1 & E & F \\
12 & 4.44 & 10.80 & 165.9 & 147.5 & 18.4 & 0.0 & 181.8 & 181.7 & L & B \\
13 & 6.04 & 9.50 & 122.9 & 109.2 & 13.7 & 0.0 & 183.7 & 183.3 & E & F \\
14 & 4.93 & 11.30 & 147.6 & 133.3 & 14.3 & 0.0 & 182.9 & 182.9 & L & B \\ M1 & 5.84 & 7.80 & 124.8 & 124.6 & 0.2 & 0.0 & 200.6 & - & L & F \\ M2 & 6.39 & 8.70 & 116.7 & 116.5 & 0.2 & 0.0 & 205.7 & - & E & B \\ M3 & 6.37 & 9.20 & 120.9 & 119.8 & 1.0 & 0.0 & 208.0 & - & E & F \\ M4 & 6.44 & 10.60 & 109.8 & 109.6 & 0.2 & 0.0 & 195.0 & - & E & B \\ \(\mu\)(\(-\)14) w/E & 5.84 & 9.64 & 179.6 & 119.5 & 32.9 & 27.1 & 182.3 & 192.8 & E & F \\ \(\sigma\)(\(-\)14) w/E & 0.29 & 0.18 & 71.0 & 18.4 & 24.4 & 37.5 & 5.0 & 19.3 & E & F \\ \(\mu\)(\(-\)14) w/L & 4.58 & 10.31 & 216.4 & 143.8 & 52.4 & 20.1 & 174.0 & 181.8 & L & B \\ \(\sigma\)(\(-\)14) w/L & 0.32 & 0.79 & 72.8 & 26.3 & 35.2 & 27.0 & 18.2 & 25.4 & L & B \\ \(\mu\)(M2-M4) & 6.40 & 9.50 & 115.8 & 115.3 & 0.5 & 0.0 & 202.9 & - & E & - \\ \(\sigma\)(M2–M4) & 0.04 & 0.98 & 5.6 & 5.2 & 0.5 & 0.0 & 7.0 & - & E & - \\ \hline \hline \end{tabular}
\end{table} 
Table 3: Mean Speed, Maximum Speed, Navigation Time, and Navigation Distance for autonomous navigation and manual operation datasets. ID: Dataset Identifier. T.Op Time: Tele-operation Time. TD: Total Distance. TAD: Total Autonomous Distance. E/L B: Empty or Loaded Bucket. H F/B: Heading Forward or Backwards.