Adaptive Navigation in an Uncertain Urban Environment

The concept of Adaptive Navigation has been developed, combining Simultaneous Localisation and Mapping (SLAM) and Receding Horizon Control (RHC) to solve the problem of navigation in an uncertain, GPS-denied, urban environment. Both SLAM and RHC have been modified to work with a representation of the environment using walls. RHC has been further modified to account for uncertainty in the wall locations. An initial implementation in a simulated challenge scenario has shown that Adaptive Navigation has the potential to solve the problem at hand. Results suggest that the limiting feature of the performance is the quality of the wall location estimation, and further research is necessary to improve robustness.