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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    Title :

    Routing unmanned vehicles in GPS-denied environments


    Contributors:


    Publication date :

    2017-06-01


    Size :

    4856996 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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