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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    Titel :

    Autonomous Navigation and Mapping in a Simulated Environment


    Beteiligte:
    B. A. Christie (Autor:in) / O. Ennasr (Autor:in) / G. P. Glaspell (Autor:in)

    Erscheinungsdatum :

    2021


    Format / Umfang :

    70 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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