Autonomous Offroad Navigation Under Poor GPS Conditions
Thorsten Luettel, Michael Himmelsbach, Felix V. Hundelshausen, Markus Gabriel Manz, André Mueller, Hans‐Joachim Wuensche · 2009
This paper describes an approach for autonomous offroad navigation for the Civilian European Landrobot Trial 2009 (C-ELROB). The main focus in this paper is how to cope with poor GPS conditions such as occurring in forest environments. Therefore the expected and detected problems are stated, and methods how to achieve good autonomous driving performance due to less weigthing of inaccurate GPS information are presented. But first, an introduction how to combine obstacle-avoidance and path following behavior within the reactive so-called tentacles approach is given. Extensions for utilizing visual information for tentacle evaluation as well as the integration of geodetic information to gather information on the road network are presented afterwards. Finally the results gathered from the successful C-ELROB trials are analyzed.