Title :
Planning with Uncertainty in Position Using High-Resolution Maps
Author :
Gonzalez, Juan Pablo ; Stentz, Anthony
Author_Institution :
Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA
Abstract :
We present a novel approach to mobile robot navigation that enables navigation in outdoor environments without GPS. The approach uses a path planner that calculates optimal paths while considering uncertainty in position and that uses landmarks to localize the vehicle as part of the planning process. The landmarks are simple, possibly aliased, features that have been previously identified in a high-resolution map. These landmarks are combined with an estimate of the position of the vehicle to create unique and robust features. This approach reduces or eliminates the need for GPS and enables the use of prior maps with imperfect map registration.
Keywords :
mobile robots; motion control; navigation; path planning; high-resolution maps; mobile robot navigation; optimal paths; outdoor environments; path planning; position uncertainty; Costs; Global Positioning System; Land use planning; Mobile robots; Navigation; Path planning; Process planning; Robustness; Uncertainty; Vehicles;
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363118