1. ERDC Knowledge Core
  2. Engineer Research and Development Center (ERDC)
  3. Geospatial Research Laboratory (GRL) (formerly Topographic Engineering Center (TEC))
  4. Publication
  5. Technical Report
Please use this identifier to cite or link to this item: https://hdl.handle.net/11681/42006
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dc.contributor.authorChristie, Benjamin A.-
dc.contributor.authorEnnasr, Osama.-
dc.contributor.authorGlaspell, Garry P.-
dc.date.accessioned2021-09-20T16:35:15Z-
dc.date.available2021-09-20T16:35:15Z-
dc.date.issued2021-09-
dc.identifier.govdocERDC/GRL TR-21-5-
dc.identifier.urihttps://hdl.handle.net/11681/42006-
dc.identifier.urihttp://dx.doi.org/10.21079/11681/42006-
dc.descriptionTechnical Reporten_US
dc.description.abstractUnknown 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).en_US
dc.description.sponsorshipUnited States. Army. Corps of Engineers.en_US
dc.description.tableofcontentsAbstract ................................................................................................................................................... ii Figures .................................................................................................................................................... iv Preface ..................................................................................................................................................... v 1 Introduction ..................................................................................................................................... 1 Background .............................................................................................................................. 1 Objective ................................................................................................................................... 2 Overview of approach ............................................................................................................... 3 2 Bringup and Robot Odometry ....................................................................................................... 5 3 Accurate Mapping using SLAM Toolbox ...................................................................................... 7 Laser_assembler ...................................................................................................................... 9 Octomap_server ......................................................................................................................... 11 RTABMap .................................................................................................................................... 13 4 Path planning using Move_base and STVL ............................................................................... 19 5 Autonomous Frontier-based Exploration using Explore Lite ................................................... 21 6 Conclusion ..................................................................................................................................... 23 References ............................................................................................................................................ 24 Appendix A ............................................................................................................................................ 26 Appendix B ............................................................................................................................................ 39 Appendix C ............................................................................................................................................ 45 Appendix D ............................................................................................................................................ 50 Report Documentation Page-
dc.format.extent70 pages / 3.76 MB-
dc.format.mediumPDF-
dc.language.isoen_USen_US
dc.publisherGeospatial Research Laboratory (U.S.)en_US
dc.publisherEngineer Research and Development Center (U.S.)-
dc.relation.ispartofseriesTechnical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC/GRL TR-21-5-
dc.rightsApproved for Public Release; Distribution is Unlimited-
dc.sourceThis Digital Resource was created in Microsoft Word and Adobe Acrobat-
dc.subjectAutonomous robots--Navigationen_US
dc.subjectTesting--Simulation methodsen_US
dc.titleAutonomous navigation and mapping in a simulated environmenten_US
dc.typeReporten_US
Appears in Collections:Technical Report

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