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...
محفوظ في:
المؤلفون الرئيسيون: | , , , , |
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مؤلفون آخرون: | |
التنسيق: | مقال |
اللغة: | English |
منشور في: |
2020
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الموضوعات: | |
الوصول للمادة أونلاين: | https://hdl.handle.net/10356/144413 |
الوسوم: |
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المؤسسة: | Nanyang Technological University |
اللغة: | English |
الملخص: | 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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