Please use this identifier to cite or link to this item:
https://hdl.handle.net/11681/42006| Title: | Autonomous navigation and mapping in a simulated environment |
| Authors: | Christie, Benjamin A. Ennasr, Osama. Glaspell, Garry P. |
| Keywords: | Autonomous robots--Navigation Testing--Simulation methods |
| Publisher: | Geospatial Research Laboratory (U.S.) Engineer Research and Development Center (U.S.) |
| Series/Report no.: | Technical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC/GRL TR-21-5 |
| Abstract: | Unknown Environment Exploration (UEE) with an Unmanned Ground Vehicle (UGV) is extremely challenging. This report investigates a frontier exploration approach, in simulation, that leverages Simultaneous Localization And Mapping (SLAM) to efficiently explore unknown areas by finding navigable routes. The solution utilizes a diverse sensor payload that includes wheel encoders, three-dimensional (3-D) LIDAR, and Red, Green, Blue and Depth (RGBD) cameras. The main goal of this effort is to leverage frontier-based exploration with a UGV to produce a 3-D map (up to 10 cm resolution). The solution provided leverages the Robot Operating System (ROS). |
| Description: | Technical Report |
| Gov't Doc #: | ERDC/GRL TR-21-5 |
| Rights: | Approved for Public Release; Distribution is Unlimited |
| URI: | https://hdl.handle.net/11681/42006 http://dx.doi.org/10.21079/11681/42006 |
| Size: | 70 pages / 3.76 MB |
| Types of Materials: | |
| Appears in Collections: | Technical Report |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| ERDC-GRL TR-21-5.pdf | 3.76 MB | Adobe PDF |  View/Open |