Please use this identifier to cite or link to this item: https://hdl.handle.net/11681/47616
Title: Mapping and localization within a mock sewer system
Authors: Dodd, Brandon M.
Ennasr, Osama
Naser, Amir
Ellison, Charles C.
Ray, Jason D.
Glaspell, Garry P.
Netchaev, Anton D.
Keywords: Autonomous robots
Mobile robots
Sewerage--Mapping
Sewerage--Navigation
Publisher: Engineer Research and Development Center (U.S.)
Series/Report no.: Technical Report (Engineer Research and Development Center (U.S.)) ; no. ERDC TR-23-16
Abstract: Herein, we explored a robot’s ability to localize and map, both in simulation and on a physical robot, within a mock sewer system. Mapping and localization techniques were first developed and tested in simulation and were then transitioned to the actual robot for additional physical testing. Several odometry and simultaneous localization and mapping (SLAM) techniques, including gmapping, SLAM toolbox, elevation mapping, and RTABMap, were evaluated for this particular environment. The results of the odometry and the various SLAM approaches are discussed in detail.
Description: Technical Report
Gov't Doc #: ERDC TR-23-16
Rights: Approved for Public Release; Distribution is Unlimited
URI: https://hdl.handle.net/11681/47616
http://dx.doi.org/10.21079/11681/47616
Appears in Collections:Technical Report

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