Landmark-Based Navigation of an Unmanned Ground Vehicle (UGV)

Abstract

We present a method for estimating the position and orientation of a ground vehicle in an environment with landmarks. From the geometric relationships, we derive a set of linear equations with a quadratic constraint, which forms the basis for our optimisation problem. We also extend the problem to associating two sets of measurements taken at two successive locations to improve the navigation accuracy. This method is efficient and the performance is robust against large measurement errors.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Mar 01, 2009
Accession Number
ADA501745

Entities

People

  • Hatem Hmam
  • Jijoong Kim

Organizations

  • Defence Science and Technology Group

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Sensors
  • Weapons Technologies

DTIC Thesaurus Topics

  • Accuracy
  • Algorithms
  • Boundaries
  • Electrical Engineering
  • Estimators
  • Geometry
  • Global Positioning Systems
  • Ground Vehicles
  • Guidance
  • Image Processing
  • Inertial Navigation
  • Inertial Navigation Systems
  • Measurement
  • Navigation
  • Unmanned Aerial Vehicles
  • Unmanned Ground Vehicles
  • Vehicles

Readers

  • Computer Vision.
  • Operations Research

Technology Areas

  • Autonomy