Precise autonomous outdoor navigation using dual RTK GNSS, ROS 2 and Navigation2 скачать в хорошем качестве

Precise autonomous outdoor navigation using dual RTK GNSS, ROS 2 and Navigation2

In the CHARISMA (CH4 Autonomous Robotized Inspection for Sustainable MAintenance) Project, the Smart Mechatronics And RoboTics (SMART) Research Group of Saxion University of Applied Sciences successfully tested highly accurate, low cost RTK GNSS devices from Holybro that interface with ROS 2. Using them in a dual setup not only gives sub-decimeter positioning accuracy, but also heading information with accuracy comparable to high-end compasses without the need of calibration and risk of magnetic distortion. We receive RTK correction data from LNR Globalcom over 4G, allowing us to accurately navigate anywhere in the Netherlands without the need of any additional equipment. Together with Alliander Research Center for Digital Technologies we are aiming at fully autonomous leakage inspections of gas pipelines. Not all leaks are dangerous, but they should still be detected and fixed because methane gas (CH4) is a powerful greenhouse gas. The pipeline coordinates (marked in purple) are the input for the autonomous navigation stack that makes use of the Navigation2 framework. The robot plans a path (green lines) and covers the pipelines with a Model Predictive Path Integral (MPPI) controller. Using our latest Boston Dynamics' Spot (named LASS-E) we have a great platform that can go wherever humans can go - autonomous navigation simply continues on the stairs at the end of the video. In parallel, the CHARISMA team is integrating a highly sensitive gas sensor into the platform. Next step is to combine them, such that we can localize very small leaks with very high positioning accuracy.