Accession Number:



Localization and Mapping of Unknown Locations with Unmanned Ground Vehicles

Descriptive Note:

[Technical Report, Final Report]

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The main goals of this research are to enhance a commercial off the shelf COTS software platform to support unmanned ground vehicles UGVs exploring the complex environment of tunnels, to test the platform within a simulation environment, and to validate the architecture through field-testing. Developing this platform enhances the U.S. Army Engineering Research and Development Centers ERDCs current capabilities and creates a safe and efficient autonomous vehicle to perform the following functions within tunnels 1 localizing e.g., position tracking and mapping of its environment, 2 traversing varied terrains, 3 sensing the environment for objects of interest, and 4 increasing the level of autonomy of UGVs available at the ERDC. The simulation experiments were performed in the STAGE Simulator, a physics-based, multi-scale numerical test bed developed by Robotic Operating System ROS. Physical testing was conducted in Vicksburg, MS, using a Coroware Explorer. Both the simulation and physical testing evaluated three simultaneous localization and mapping SLAM algorithms, i.e., Hector SLAM, Gmapping, and CORESLAM to determine the superior algorithm. The superior algorithm was then used to localize the robot to the environment and autonomously travel from a start location to a destination location. Completion of this research has increased the ERDCs level of autonomy for UGVs from tether to tele-operated to autonomous.

Subject Categories:

  • Surface Transportation and Equipment
  • Cybernetics
  • Cartography and Aerial Photography

Distribution Statement:

[A, Approved For Public Release]