It seems a typical issue caused by a bad burned disc.
Most of times this is due to a low quality disc, and the only solution is to use only quality media.
Another frequent cause is the wrong burning speed selected. usually 16x discs can be burned with best results at 12x or 8x.
Another rather possible cause is that your drive needs a firmware update.
Try first to burn a quality disc like Verbatim. This should solve