UAV circumnavigating an unknown target under a GPS-denied environment with range-only measurements

DOI10.1016/J.AUTOMATICA.2015.03.007zbMATH Open1377.93109arXiv1404.3221OpenAlexW2962920847MaRDI QIDQ1689362FDOQ1689362

Authors: Yongcan Cao 

Publication date: 12 January 2018

Published in: Automatica (Search for Journal in Brave)

Abstract: One typical application of unmanned aerial vehicles is the intelligence, surveillance, and reconnaissance mission, where the objective is to improve situation awareness through information acquisition. For examples, an efficient way to gather information regarding a target is to deploy UAV in such a way that it orbits around this target at a desired distance. Such a UAV motion is called circumnavigation. The objective of the paper is to design a UAV control algorithm such that this circumnavigation mission is achieved under a GPS-denied environment using range-only measurement. The control algorithm is constructed in two steps. The first step is to design a UAV control algorithm by assuming the availability of both range and range rate measurements, where the associated control input is always bounded. The second step is to further eliminate the use of range rate measurement by using an estimated range rate, obtained via a sliding-mode estimator using range measurement, to replace actual range rate measurement. Such a controller design technique is applicable in the control design of other UAV navigation and control missions under a GPS-denied environment.

Full work available at URL: https://arxiv.org/abs/1404.3221

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zbMATH Keywords

UAVautonomyGPS-denied environmentjoint estimation and controlsliding-mode estimator

Mathematics Subject Classification ID

Variable structure systems (93B12) Nonlinear systems in control theory (93C10) Control/observation systems governed by ordinary differential equations (93C15) Automated systems (robots, etc.) in control theory (93C85)

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Cited In (27)

• Target encirclement with any smooth pattern using range-based measurements
• Advanced software ground station and UAV development for NLoS control using mobile communications
• Adaptive event-triggered actor-critic algorithm for optimal 3D formation circumnavigation with relative measurement and an unknown moving target
• Coordinate-free control for the isoline tracking of an unknown scalar field
• A low-cost estimator for target localization and circumnavigation using bearing measurements
• Cooperative circumnavigation of a moving target with multiple nonholonomic robots using backstepping design
• Collision-free zero-communication finite-time target localization and circumnavigation by multiple agents using bearing-only measurements
• Target enclosing control for fixed-wing unmanned aerial vehicle in three dimensional space: an attractive vector approach
• Distributed control of target cooperative encirclement and tracking using range-based measurements
• Target capture and station keeping of fixed speed vehicles without self-location information
• Coordinate frame free dubins vehicle circumnavigation using only range-based measurements
• Autonomous dynamic docking of UAV based on UWB-vision in GPS-denied environment
• Leader-follower circumnavigation control of non-holonomic robots using distance-related information
• Integrated Guidance, Navigation, and Control System for a UAV in a GPS Denied Environment
• Finite-time distributed localization and multi-orbit circumnavigation with bearing-only measurements
• Coordinated circumnavigation by multiple agents under directed topology
• Distributed formation tracking of nonholonomic autonomous vehicles via event-triggered and sampled-data method
• Localization and circumnavigation of multiple agents along an unknown target based on bearing-only measurement: a three dimensional solution
• Entrapping a target in an arbitrarily shaped orbit by a single robot using bearing measurements
• Achieving safe minimum circle circumnavigation around multiple targets: a dynamic compensation approach
• The isoline tracking in unknown scalar fields with concentration feedback
• Target localization and circumnavigation using distance measurements in 2D
• Bio-Inspired Electromagnetic Orientation for UAVs in a GPS-Denied Environment Using MIMO Channel Sounding
• Safe convex-circumnavigation of one agent around multiple targets using bearing-only measurements
• Target circumnavigation of mobile robots using range-only measurements
• Schrödinger equation with noise on the boundary
• Monocular passive ranging of maneuvering intruder for UAS detect‐and‐avoid

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