Magnetic Navigation: Information-driven Path Planning for Localization

Magnetic Navigation: Information-driven Path Planning for Localization

Overview

Although many outdoor autonomous robotics systems rely on GPS, there are some situations or applications where GPS signal is unavailable, e.g., navigation in an underwater environment, receiving a degraded or jammed GPS signal. One solution to this GPS-denied navigation is magnetic anomaly-based navigation, which allows robots to localize based on a series of magnetometer readings and a pre-known magnetic field map. In this project, we focus on developing information-driven active localization methods that plan a path for reducing localization uncertainty.

  1. J. H. Ramos, J. Shin, K. Volle, P. Buzaud, K. Brink and P. Ganesh, “Information-Aware Guidance for Magnetic Anomaly based Navigation,” 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 6347-6354, doi: 10.1109/IROS47612.2022.9981709.

Research Team at UF

Jane Shin, Aditya Penumarti, Humberto Ramos, Kristy Waters

Acknowledgement

This work is partially supported by Air Force Research Lab through FA8651-22-F-1052.