The Robotics Institute

Carnegie Mellon Robotics Institute

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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

planning with uncertainty, outdoors, path planning

Notes

Associated Center(s) / Consortia: Vision and Autonomous Systems Center and Field Robotics Center

Associated Project(s): CTA Robotics

Text Reference

Juan Pablo Gonzalez and Anthony (Tony) Stentz, "Planning with Uncertainty in Position Using High-Resolution Maps," tech. report CMU-RI-TR-06-33, Robotics Institute, Carnegie Mellon University, August, 2006

BibTeX Reference

@techreport{Gonzalez_2006_5511,
   author = "Juan Pablo Gonzalez and Anthony (Tony) Stentz",
   title = "Planning with Uncertainty in Position Using High-Resolution Maps",
   booktitle = "",
   institution = "Robotics Institute",
   month = "August",
   year = "2006",
   number= "CMU-RI-TR-06-33",
   address= "Pittsburgh, PA",
}

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