In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through adhoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fashion. The collected data are disseminated through the network via multi-hops, therefore being subject to latency. Since not all the paths are equal in terms of information gathering rewards, the motion planning is formulated as a minimization of the uncertainty of the source position under UAV kinematic and anti-collision constraints and performed by 3D non-linear programming. The proposed analysis takes into account non-line-of-sight (NLOS) channel conditions as well as measurement age caused by the latency constraints in communication.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    Non-Centralized Navigation for Source Localization by Cooperative UAVs



    Erscheinungsdatum :

    2019-01-01



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    Klassifikation :

    DDC:    629



    Cooperative Localization for Multi-rotor UAVs

    Chakraborty, Anusna / Sharma, Rajnikant / Brink, Kevin | AIAA | 2019


    Cooperative Localization for Multi-rotor UAVs

    Chakraborty, Anusna / Sharma, Rajnikant / Brink, Kevin | TIBKAT | 2019




    Estimation and Optimal Configurations for Localization Using Cooperative UAVs

    Purvis, Keith B. / Åström, Karl Johan / Khammash, Mustafa | BASE | 2008

    Freier Zugriff