ICUAS'17 Paper Abstract

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Paper WeA2.4

Sundar, Kaarthik (Texas A&M University), Misra, Sohum (University of Cincinnati), Rathinam, Sivakumar (Texas A & M University), Sharma, Rajnikant (University of Cincinnati)

Routing Unmanned Vehicles in GPS-Denied Environments

Scheduled for presentation during the "Path Planning - I" (WeA2), Wednesday, June 14, 2017, 11:00−11:20, Salon AB

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 April 12, 2021

Keywords Navigation, Path Planning, UAS Applications

Abstract

Most of the routing algorithms for unmanned vehicles, that arise in data gathering and monitoring applications in the literature, rely on the Global Positioning System (GPS) information for localization. However, disruption of GPS signals either intentionally or unintentionally could potentially render these algorithms not applicable. In this article, we present a novel method to address this difficulty by combining methods from cooperative localization and routing. In particular, the article formulates a fundamental combinatorial optimization problem to plan routes for an unmanned vehicle in a GPS-restricted environment while enabling localization for the vehicle. We also develop algorithms to compute optimal paths for the vehicle using the proposed formulation. Extensive simulation results are also presented to corroborate the effectiveness and performance of the proposed formulation and algorithms.

 

 

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