Adaptive Heading for Perception-Aware Trajectory Following
Jonatan Scharff Willners,Sean Katagiri,Shida Xu,Tomasz Łuczyński,Joshua Roe,Yvan Petillot,Jonatan Scharff Willners,Sean Katagiri,Shida Xu,Tomasz Łuczyński,Joshua Roe,Yvan Petillot
This paper presents an adaptive heading approach for perception awareness during trajectory following. By adapting the heading of a robot to improve the feature tracking in the current mapped environment, the accuracy in localisation can be improved. This can have a significant advantage for autonomous operations in GPS-denied environments such as subsea or in caves. The aim of the proposed approa...
