The Husky unmanned ground vehicle (UGV) is a medium sized robotic development platform equipped with several sensors and systems to enable robust positioning and navigation in different environments. Among these sensors and systems, the NavINST research lab equips the Husky with a 3D LiDAR [Velodyne VLP16], an inertial measurement unit (CHR-UM6 IMU), electronic scanning radar (Delphi ESR), a GNSS receiver (u-blox), and a stereo camera (ZED Camera). All these sensors measurements are synchronized and acquired using a Linux based ROS platform. The Husky UGV setup at NavINST research lab is fully ready for both indoor and outdoor perception missions.
This setup has been successfully used to examine indoor positioning inside Sawyer building at RMC and in Brockville railway tunnel.