Range Based Target Capture and Station Keeping of Nonholonomic Vehicles without GPS


Guler S. , Fidan B.

European Control Conference (ECC), Linz, Austria, 15 - 17 July 2015, pp.2970-2975 identifier identifier

  • Publication Type: Conference Paper / Full Text
  • Doi Number: 10.1109/ecc.2015.7330989
  • City: Linz
  • Country: Austria
  • Page Numbers: pp.2970-2975

Abstract

This paper studies the closely related problems of target capturing and station keeping by an autonomous vehicle agent within the limitations of having access to the measurements of distance from the target only, where station keeping refers to moving the agent to a position having predefined distances from a network of sensory stations or other agents. These problems have been recently studied for the cases where the position of the agent is available for measurement. The objective of this paper is to design a control scheme for solving the same problems when the self-position measurement is not available. In practical UAV settings, this corresponds to consideration of unavailability of GPS. Following the approach of another recent work for circumnavigation problems with the same measurement setting, a control scheme is proposed for each of the two aforementioned problems using agent-target range and range rate information. The paper provides a brief analysis of stability and convergence properties and some simulation results demonstrating performance of the proposed control schemes.