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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
Size: 70 pages / 3.76 MB
Types of Materials: PDF
Appears in Collections:Technical Report

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