The purpose of this study is to collect validation data that can be used to assess the performance of nighttime navigation algorithms used by mobile robots (i.e., rovers). Using a number of onboard sensors (star trackers, LIDAR, inclinometer) our rover will collect observations during a night-time traverse over various types of terrain. These observations can be used to synthesize a profile of the rovers translational and rotational motion during the traverse. Real-time Kinematic (RTK) GPS measurements provide truth measurements to compare to the rover’s own estimates during the traverse. These results will help refine techniques to allow precision autonomous operation of mobile robots.
Principal Investigator: John Enright