Single landmark distance-based navigation

Single landmark distance-based navigation

In this brief, we study the distance-based navigation problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to simultaneously accomplishes two objectives: relative loca...

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Bibliographic Details
Main Authors: Nguyen, Thien-Minh, Qiu, Zhirong, Cao, Muqing, Nguyen, Thien Hoang, Xie, Lihua
Other Authors: School of Electrical and Electronic Engineering
Format: Article
Language:English
Published: 2020
Subjects:
Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Adaptive Control
Unmanned Aerial Vehicle
Online Access:https://hdl.handle.net/10356/144413
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Institution: Nanyang Technological University
Language: English
Description
Summary:In this brief, we study the distance-based navigation problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to simultaneously accomplishes two objectives: relative localization using only distance and odometry measurements, and navigation to the desired location under bounded control input. Asymptotic convergence is obtained by invoking the discrete-time LaSalle's invariance principle in the noise-free case, and the stability under distance measurement noise is also investigated. We also validate our theoretical findings on quadcopters equipped with ultra-wideband ranging sensors and optical flow sensors in a global positioning system (GPS)-less environment.

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