TY - GEN
T1 - A Robust and Rapidly Deployable Waypoint Navigation Architecture for Long-Duration Operations in GPS-Denied Environments
AU - Pearson, Erik
AU - Englot, Brendan
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=85169443568&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85169443568&partnerID=8YFLogxK
U2 - 10.1109/UR57808.2023.10202392
DO - 10.1109/UR57808.2023.10202392
M3 - Conference contribution
AN - SCOPUS:85169443568
T3 - 2023 20th International Conference on Ubiquitous Robots, UR 2023
SP - 319
EP - 326
BT - 2023 20th International Conference on Ubiquitous Robots, UR 2023
T2 - 20th International Conference on Ubiquitous Robots, UR 2023
Y2 - 25 June 2023 through 28 June 2023
ER -