Title: Landmark Based Autonomous Snowplow Navigation
Author(s): Michael Bowyer, Angelo Bertani, Erik Aitken, Samir A. Rawashdeh
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.
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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.