Design and Verification of Observability-Driven Autonomous Vehicle Exploration Using LiDAR SLAM
Donggyun Kim,
Byungjin Lee,
Sangkyung Sung
Abstract:This paper explores the research topic of enhancing the reliability of unmanned mobile exploration using LiDAR SLAM. Specifically, it proposes a technique to analyze waypoints where 3D LiDAR SLAM can be smoothly performed in potential exploration areas and points where there is a risk of divergence in navigation estimation. The goal is to improve exploration performance by presenting a method that secures these candidate regions. The analysis employs a 3D geometric observability matrix and its condition number… Show more
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