Landmark Based Autonomous Snowplow Navigation

Michael Bowyer, Angelo Bertani, Erik Aitken, Samir A. Rawashdeh

Abstract:	Yeti 6.0 is an autonomous vehicle designed to compete in the 2016 I.O.N. Autonomous Snowplow Competition held in St. Paul, MN. The vehicle autonomously clears snow from a predefined course while avoiding obstacles. Localization is achieved using a forward facing scanning laser range finder (LiDAR) assisted by a set of landmarks. The Levenberg - Marquardt method is used in estimating the vehicle's position relative to the landmarks. A PD controller is used to control heading. This paper discusses the design of the vehicle's electrical, mechanical, and control systems. Yeti 6.0 placed first overall at the 2016 competition.
Published in:	Proceedings of the 29th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2016) September 12 - 16, 2016 Oregon Convention Center Portland, Oregon
Pages:	1502 - 1511
Cite this article:	Bowyer, Michael, Bertani, Angelo, Aitken, Erik, Rawashdeh, Samir A., "Landmark Based Autonomous Snowplow Navigation," Proceedings of the 29th International Technical Meeting of the Satellite Division of The Institute of Navigation (ION GNSS+ 2016), Portland, Oregon, September 2016, pp. 1502-1511. https://doi.org/10.33012/2016.14622
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