Terrain-aided localization of autonomous ground vehicles

The development of a terrain-aided localization framework for autonomous ground vehicles (AGV) operating at high speeds in unstructured, expansive and harsh environments is the subject of this article. The localization framework developed is sufficiently generic to be used on a variety of other autonomous ground vehicles and is demonstrated by its implementation using field data collected from two different trials on two different vehicles. The results demonstrate the robustness of the proposed localization framework in producing reliable and accurate position estimates for autonomous vehicles operating in a variety of unstructured domains.