Single landmark distance-based navigation

• 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
• Institution: Nanyang Technological University

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.