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Okay, you've got a really nice GPS that'll make your life a lot easier, do you have a compass and IMU? One of these sensors could easily give you a heading and body tilt information effectively solving the localisation part of the problem.

You should be able to build a very accurate localisation estimate from the above sensors which means you don't necessarily have to perform full SLAM. if your route is approximate defined using GPS waypoints then you could use a reactive route planning approach using just the stereo cameras. Here you would process the two images to get a point cloud. Then use that could to produce a DEM (digital elevation map), which can then be used to fairly easily determine which areas can be safely driven. This will give you a path foot the robot to follow.

You're remaining lower resolution sensors can be used for reactive collision avoidance.

Hope this gets you started.