Planning with Uncertainty in Position Using High-Resolution Maps - Robotics Institute Carnegie Mellon University

Planning with Uncertainty in Position Using High-Resolution Maps

Conference Paper, Proceedings of (ICRA) International Conference on Robotics and Automation, pp. 1015 - 1022, April, 2007

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.

BibTeX

@conference{Gonzalez-2007-9698,
author = {Juan Pablo Gonzalez and Anthony (Tony) Stentz},
title = {Planning with Uncertainty in Position Using High-Resolution Maps},
booktitle = {Proceedings of (ICRA) International Conference on Robotics and Automation},
year = {2007},
month = {April},
pages = {1015 - 1022},
keywords = {Planning with uncertainty, GPS},
}