This paper proposes an autonomous navigation solution for an unmanned aerial vehicle (UAV) in an unknown and Global Navigation Satellite System (GNNS)-denied environment using a goal-aware robocentric reference frame. A combined Proportional Navigation (PN)-guidance and obstacle avoidance controller is developed to help navigate the UAV to a user-defined goal by successfully avoiding obstacles along its path. An extended Kalman filter is used to estimate the relative orientation of the UAV with respect to the goal and other objects of interest in the environment (called landmarks). This work uses a bearing-only measurement model based on the positions of the goal and landmarks provided by a visual tracker. A detailed two-dimensional observability analysis is performed and the proposed goal-aware solution is shown to provide more information about the system than a general robocentric approach. The problem formulation is corroborated through extensive simulation and hardware results.
Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle
Journal of Aerospace Information Systems ; 18 , 8 ; 488-505
2021-06-30
18 pages
Aufsatz (Zeitschrift)
Elektronische Ressource
Englisch