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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Goal-Aware Robocentric Mapping and Navigation of a Quadrotor Unmanned Aerial Vehicle


    Beteiligte:

    Erschienen in:

    Erscheinungsdatum :

    2021-06-30


    Format / Umfang :

    18 pages




    Medientyp :

    Aufsatz (Zeitschrift)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




    Robocentric Simultaneous Localization and Mapping

    Ram, S. P. Arjun / Zanetti, Renato | AIAA | 2024


    Turnable quadrotor unmanned aerial vehicle

    TIAN HAOYANG / LIANG WENXIANG / CHEN WENJUAN et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Goal-aware Navigation of Quadrotor UAV for Infrastructure Inspection

    Biswas, Srijanee / Sharma, Rajnikant | AIAA | 2019


    Goal-aware Navigation of Quadrotor UAV for Infrastructure Inspection

    Biswas, Srijanee / Sharma, Rajnikant | TIBKAT | 2019


    Quadrotor unmanned aerial vehicle debugging platform

    ZHANG LEI | Europäisches Patentamt | 2020

    Freier Zugriff