Introduction to Autonomous Navigation and Mapping for Unmanned Ground Vehicles
Stéphanie Aravecchia · HAL (Le Centre pour la Communication Scientifique Directe) · 2024
This technical report addresses the fundamental challenges associated with Navigation and Mapping for Unmanned Ground Vehicles (UGVs), with a particular focus on wheeled robots. Aimed at students beginning robotics research projects, this document provides an overview of the fundamentals of UGV navigation and mapping. Notably, it introduces perception, localization, mapping, and autonomous navigation, with an emphasis on the associated challenges.