Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments
Date
2022-11-23
Authors
Baxevani, Kleio
Yadav, Indrajeet
Yang, Yulin
Sebok, Michael
Tanner, Herbert G.
Huang, Guoquan
Journal Title
Journal ISSN
Volume Title
Publisher
Guidance, Navigation and Control
Abstract
Co-design and integration of vehicle navigation and control and state estimation is key for enabling field deployment of mobile robots in GPS-denied cluttered environments, and sensor calibration is critical for successful operation of both subsystems. This paper demonstrates the potential of this co-design approach with field tests of the integration of a reactive receding horizon-based motion planner and controller with an inertial aided multi-sensor calibration scheme. The reported method provides accurate calibration parameters that improve the performance of the state estimator, and enable the motion controller to generate smooth and continuous minimal-jerk trajectories based on local LiDAR data. Numerical simulations in Unity, and real-world experimental results from the field corroborate the claims of efficacy for the reported autonomous navigation computational pipeline.
Description
Baxevani, Kleio, Indrajeet Yadav, Yulin Yang, Michael Sebok, Herbert G. Tanner, and Guoquan Huang. “Resilient Ground Vehicle Autonomous Navigation in GPS-Denied Environments.” Guidance, Navigation and Control, November 23, 2022, 2250020. https://doi.org/10.1142/S2737480722500200. © Technical Committee on Guidance, Navigation and Control, CSAA and World Scientific Publishing Co. https://www.worldscientific.com/worldscinet/gnc. This article will be embargoed until 11/23/2023.
Keywords
field robots, calibration and identification, motion and path planning
Citation
Baxevani, Kleio, Indrajeet Yadav, Yulin Yang, Michael Sebok, Herbert G. Tanner, and Guoquan Huang. “Resilient Ground Vehicle Autonomous Navigation in GPS-Denied Environments.” Guidance, Navigation and Control, November 23, 2022, 2250020. https://doi.org/10.1142/S2737480722500200.