GLANS: GIS Based Large-Scale Autonomous Navigation System

  • Manhui SunEmail author
  • Shaowu Yang
  • Henzhu Liu
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 10942)


The simultaneous localization and mapping (SLAM) systems are widely used for self-localization of a robot, which is the basis of autonomous navigation. However, the state-of-art SLAM systems cannot suffice when navigating in large-scale environments due to memory limit and localization errors. In this paper, we propose a Geographic Information System (GIS) based autonomous navigation system (GLANS). In GLANS, a topological path is suggested by GIS database and a robot can move accordingly while being able to detect the obstacles and adjust the path. Moreover, the mapping results can be shared among multi-robots to re-localize a robot in the same area without GPS assistance. It has been proved functioning well in the simulation environment of a campus scenario.


SLAM GIS database Navigation at large-scale 


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Copyright information

© Springer International Publishing AG, part of Springer Nature 2018

Authors and Affiliations

  1. 1.State Key Laboratory of High-Performance Computing, College of ComputerNational University of Defensive TechnologyChangshaChina

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