Autonomous Navigation and Mapping in a Simulated Environment

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).

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Document Details

Document Type
Technical Report
Publication Date
Sep 01, 2021
Accession Number
AD1148167

Entities

People

  • Benjamin A. Christie
  • Garry P. Glaspell
  • Osama Ennasr

Organizations

  • Engineer Research and Development Center

Tags

Communities of Interest

  • Autonomy
  • Energy and Power Technologies
  • Sensors

DTIC Thesaurus Topics

  • Army
  • Army Corps Of Engineers
  • Autonomous Navigation
  • Autonomous Systems
  • Cartography
  • Computer Programs
  • Control Systems
  • Engineers
  • Geometry
  • Maps
  • Motion Planning
  • Navigation
  • Operating Systems
  • Particle Swarm Optimization
  • Robotics
  • Robots
  • Simulations
  • Simultaneous Localization And Mapping
  • Situational Awareness
  • Three Dimensional
  • Two Dimensional
  • Unmanned Ground Vehicles

Fields of Study

  • Computer science

Readers

  • Agent-Based Social Robotics and Mobile-Assisted Learning in Virtual Environments.
  • Coastal and Marine Engineering/Sediment Transport/Hydraulic Engineering
  • Geodesy

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy