Developing Robust Autonomous Vehicles with ROS
Document Type
Conference Proceeding
Publication Date
1-1-2024
Abstract
In the rapidly evolving landscape of military technology, the demand for autonomous vehicles (AVs) is increasing in both public and private sectors. These autonomous systems promise many benefits including enhanced efficiency, safety, and flexibility. To meet this demand, development of autonomous vehicles that are resilient and versatile are essential to the transport and reconnaissance market. The sensory perception of autonomous vehicles of any kind is paramount to their ability to navigate and localize in their environment. Typically, the sensors used for localization and mapping include LIDAR, IMU, GPS, and radar. Each of these has inherent weaknesses that must be accounted for in a robust system. This paper presents quantified results of simulated perturbations, artificial noise models, and other sensor challenges on autonomous vehicle platforms. The research aims to establish a foundation for robust autonomous systems, accounting for sensor limitations, environmental noise, and defense against nefarious attacks.
Publication Title
Proceedings of SPIE - The International Society for Optical Engineering
ISBN
[9781510674226]
Recommended Citation
Kangas, D.,
Salem, M.,
Li, K.,
Ryynanen, T.,
Senczyszyn, S.,
Pinar, A.,
Price, S.,
Price, S.,
Taylor, S.,
Murphy, T.,
&
Havens, T.
(2024).
Developing Robust Autonomous Vehicles with ROS.
Proceedings of SPIE - The International Society for Optical Engineering,
13052.
http://doi.org/10.1117/12.3013941
Retrieved from: https://digitalcommons.mtu.edu/michigantech-p2/958