Application of a Scaled Ground Vehicle in a Testbed of Heterogeneous Autonomous Systems

Abstract

This paper presents the application of an Unmanned Ground Vehicle(UGV) in a testbed of heterogeneous autonomous systems. The UGV comprises of three essential factors of navigation: A Mapping System, Localization system, and an Obstacle Avoidance System. The UGV will avoid obstacles using Light Detection and Ranging (LIDAR) technology compatible with a controller to prevent it from colliding with objects while reaching a goal. While the UGV is exploring the territory, it will use mapping techniques for visual reference. Robot Operating System manages the sensors into individual topics, which communicate together to link data for navigation.