Landmark-Based Navigation of an Unmanned Ground Vehicle (UGV)

摘要

We present a method for estimating the position and orientation of a ground vehicle in an environment with landmarks. From the geometric relationships, we derive a set of linear equations with a quadratic constraint, which forms the basis for our optimisation problem. We also extend the problem to associating two sets of measurements taken at two successive locations to improve the navigation accuracy. This method is efficient and the performance is robust against large measurement errors.