Localization and Mapping of Unknown Locations with Unmanned Ground Vehicles
- Magazine Article
- 19AERP05_09
- English
Army Engineer Research and Development Center, Vicksburg, Mississippi
The main goals of this research are to enhance a commercial off-the-shelf (COTS) software platform to support unmanned ground vehicles (UGVs) exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field-testing.
In this research, software was designed and tested for a UGV in order to give it the capability to localize and map an unknown area while navigating. The UGV was equipped with a camera, acoustic sensor, and a laser range finder that provides the UGV with readings to determine its pose and landmarks within the unknown area to create a map of the unknown research.