ICUAS'17 Paper Abstract

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Paper WeB4.3

Lima, Rolif (Indian Institute of Science, Banglore), Ghose, Debasish (Indian Institute of Science)

Target Localization and Pursuit by Sensor-Equipped UAVs Using Distance Information

Scheduled for presentation during the "UAS Applications - II" (WeB4), Wednesday, June 14, 2017, 15:40−16:00, Lummus Island

2017 International Conference on Unmanned Aircraft Systems, June 13-16, 2017, Miami Marriott Biscayne Bay, Miami, FL,

This information is tentative and subject to change. Compiled on July 22, 2019

Keywords Navigation, UAS Applications

Abstract

This paper describes a problem in which a network consisting of a sensor-equipped UAV and multiple beacons, operating in a large geographical space, uses distance measurements to estimate the position of a target and pursue it. The positions of the beacon are also not known to the UAV and needs to be estimated by the UAV, again using distance measurements. Distance measurements are assumed to have been obtained from methods which are noisy in nature, due to which Kalman filter is used to get more accurate location estimates of the beacons and the target. The trajectory of the UAV is decomposed into a discovery phase and a pursuit phase. In discovery phase only beacon positions are estimated and in the pursuit phase a pursuit guidance law is used to guide the UAV to approach the target. Performance of the algorithm is demonstrated through simulations.

 

 

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