Is there any way of localizing a mobile robot in an environment such as a dense forest where the landmarks are not known? How the robot will determine its position? Here the scenario is such that the GPS cannot be used for localisation as the robot is inside the forest?
If no other observations can be obtained, inertial navigation system may be a good choice. It can give the state of mobile robot by integrating from the initial state by the measured acceleration and angle velocity. The accuracy of initial state which you can determine by GPS is important.
A LASER rangefinder can be used in any environment where GPS is not available by employing SLAM. Please refer to the attached links. The wall following navigation may not be very suitable for forests but is good for indoor environment. The inertial navigation system works fine initially, but in long run suffers from dead reckoning.
Conference Paper Autonomous Navigation of UAV through GPS-Denied Indoor Envir...
Conference Paper Autonomous Wall-Following Based Navigation of Unmanned Aeria...
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