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Intelligence gathering is a critical component of military operations. Unmanned aerial vehicles (UAVs) have become an increasingly useful tool due to their surveillance and reconnaissance capabilities. However, the use of many of these vehicles is limited to outdoor environments because of their size and reliance on Global Positioning Satellites (GPS). Knowledge of indoor environments is important...
GPS receiver performance can suffer in difficult environments such as urban canyons and heavy foliage. Inertial sensors provide information between GPS updates and can enhance the position solution in a GPS/INS architecture. Additional information from safety sensors already on the vehicle, such as lane departure warning (LDW) sensors, can enhance the navigation solution further by constraining inertial...
The capability of autonomous navigation is very important for lunar rover exploring in an unknown environment. In this paper, a method of simultaneous localization and mapping based on Rao-Blackwellized particle filters (RBPF-SLAM) is adopted to improve the precision of inertial positioning for the rover and to build a 2D grid map for the environment. Lunar rover's motion model is built by combining...
The localization problem in indoor environment based on LIDAR measurements is analyzed in this paper. Practical aspects of the localization are discussed including the implementations of the state estimation and registration algorithms. The localization framework developed is sufficient generic to be used in a variety of other autonomous vehicles. The results of the proposed navigation algorithms...
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