A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments

Erik Pearson, Brendan Englot

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

2 Scopus citations

Abstract

For long-duration operations in GPS-denied environments, accurate and repeatable waypoint navigation is an essential capability. While simultaneous localization and mapping (SLAM) works well for single-session operations, repeated, multi-session operations require robots to navigate to the same spot(s) accurately and precisely each and every time. Localization and navigation errors can build up from one session to the next if they are not accounted for. Localization using a global reference map works well, but there are no publicly available packages for quickly building maps and navigating with them. We propose a new architecture using a combination of two publicly available packages with a newly released package to create a fully functional multi-session navigation system for ground vehicles. The system takes just a few hours from the beginning of the first manual scan to perform autonomous waypoint navigation.

Original languageEnglish
Title of host publication2023 20th International Conference on Ubiquitous Robots, UR 2023
Pages319-326
Number of pages8
ISBN (Electronic)9798350335170
DOIs
StatePublished - 2023
Event20th International Conference on Ubiquitous Robots, UR 2023 - Honolulu, United States
Duration: 25 Jun 202328 Jun 2023

Publication series

Name2023 20th International Conference on Ubiquitous Robots, UR 2023

Conference

Conference20th International Conference on Ubiquitous Robots, UR 2023
Country/TerritoryUnited States
CityHonolulu
Period25/06/2328/06/23

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