Development of a plug-and-play ROS-based land vehicular navigation suite

Jyh Ching Juang, Wen Lin Hsieh, Che Cheng Chang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

The level of automation of land vehicles has been constantly enhanced by the introduction of new sensors, innovative algorithms, and systems integration in meeting the increasing demand of safety, efficiency, and convenience. For the navigation of a vehicle, a GNSS receiver, vehicular sensors, and inertial measurement units are often employed to provide a fused navigation solution in various environments. These sensors are known to be complementary and the fused solution is known to be able to provide a better accuracy, integrity, and availability. More recently, vehicles are often equipped with camera, radars, ultra sonic sensors, and lidars to provide advanced driver assistant functions or even autonomous driving features. In practice, it may be desired to seek a flexible design framework to host various sensors so that the contributions of different sensors can be assessed. Moreover, it may also be desired to augment an existing sensor suite with some add-on sensors to enhance performance. To realize the above objectives, a plug-andplay ROS-based navigation suite is presented. ROS, standing for Robot Operating System is an open-source, meta operating system that was initially developed for robotic research with the desire of sharing and collaboration in mind. Such a framework turns out to be very beneficial in navigation suite design as different types of sensors with different data messages and data rates can be accommodated and fused. The paper discusses the setup of an ROS-based vehicular navigation suite, presents the information filtering algorithm to facilitate the plug-andplay feature, and demonstrates the effectiveness of the ROS-based navigation suite in terms of performance and reconfigurability.

Original languageEnglish
Title of host publication30th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2017
PublisherInstitute of Navigation
Pages1959-1963
Number of pages5
ISBN (Electronic)9781510853317
DOIs
Publication statusPublished - 2017 Jan 1
Event30th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2017 - Portland, United States
Duration: 2017 Sep 252017 Sep 29

Publication series

Name30th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2017
Volume3

Other

Other30th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2017
CountryUnited States
CityPortland
Period17-09-2517-09-29

All Science Journal Classification (ASJC) codes

  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Juang, J. C., Hsieh, W. L., & Chang, C. C. (2017). Development of a plug-and-play ROS-based land vehicular navigation suite. In 30th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2017 (pp. 1959-1963). (30th International Technical Meeting of the Satellite Division of the Institute of Navigation, ION GNSS 2017; Vol. 3). Institute of Navigation. https://doi.org/10.33012/2017.15248