Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments
| Author(s) | Baxevani, Kleio | |
| Author(s) | Yadav, Indrajeet | |
| Author(s) | Yang, Yulin | |
| Author(s) | Sebok, Michael | |
| Author(s) | Tanner, Herbert G. | |
| Author(s) | Huang, Guoquan | |
| Date Accessioned | 2023-02-01T14:54:09Z | |
| Date Available | 2023-02-01T14:54:09Z | |
| Publication Date | 2022-11-23 | |
| 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. | |
| 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. | |
| Sponsor | This work was supported by U.S. Army Combat Capabilities Development Command - Army Research Lab via award # W911NF-20-2-0098. Thanks to Dr. Kun Fu for the 3D printing of the sensor support, and to Wenxuan (Owen) Li for involvement in the Jackal experiments. | |
| 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. | |
| ISSN | 2737-4920 | |
| URL | https://udspace.udel.edu/handle/19716/32186 | |
| Language | en_US | |
| Publisher | Guidance, Navigation and Control | |
| Keywords | field robots | |
| Keywords | calibration and identification | |
| Keywords | motion and path planning | |
| Title | Resilient Ground Vehicle Autonomous Navigation in GPS-denied Environments | |
| Type | Article |
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