Article Details

Title · Authors · Abstract · Keywords · DOI · References

Design and Implementation of an Outdoor Unmanned Ground Vehicle Autonomous Navigation System Based on ROS2 and Multi-sensor Fusion

YANG Ling, YANG Lu, CHEN Shengming, LIAO Yuren, XIA Jiakang

(Hunan College of Information, Changsha 410200, China)

Section：Computer Technology · Vol. 2026, Issue 17 · Pages：83-88 · 2096-4706（2026）17-0083-06 · CLC number：TP242 · Document code：A · DOI：10.19850/j.cnki.2096-4706.2026.17.015

Abstract

To address the positioning drift caused by illumination interference and accumulated errors in wheel odometry in outdoor unmanned ground vehicles, this paper designs and implements a multi-sensor fusion autonomous navigation system based on the ROS2 distributed framework. The system adopts the Extended Kalman Filter (EKF) algorithm to fuse data from the IMU, wheel encoders, and LiDAR, and establishes a unified coordinate frame to suppress positioning drift. Combined with LiDAR SLAM, the system constructs a grid map and employs the ROS2 Nav2 navigation stack to achieve multi-waypoint queued autonomous navigation and dynamic obstacle avoidance. Through targeted engineering constraints and parameter tuning strategies, the system effectively overcomes filter divergence and particle degeneracy in bumpy outdoor environments. Experimental results show that the system produces clear maps, operates smoothly during navigation, and demonstrates good stability and dynamic adaptability.

Keywords

ROS2; multi-sensor fusion; SLAM; autonomous navigation

References

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Funding

Project of the 14th Five Year Plan of Hunan Education Science Research Association for 2024 (XJKX24B195); Ministry of Education Supply and Demand Coordination Employment and Education Project (202411285590)

About the authors

Yang Ling (October 1991-), female, Han ethnicity, from Longhui, Hunan, lecturer, master's student, research interests include intelligent control.