Planning with Uncertainty in Position Using High-Resolution Maps

Abstract — We present a novel approach to mobile robot navigation that enables navigation in outdoor environments without GPS. The approach uses a path planner that calculates optimal paths while considering uncertainty in position, and that uses landmarks to localize the vehicle as part of the planning process. The landmarks are simple, possibly aliased, features that have been previously identified in a highresolution map. These landmarks are combined with an estimate of the position of the vehicle to create unique and robust features. This approach reduces or eliminates the need for GPS and enables the use of prior maps with imperfect map registration. I