Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors
Relative localization (RL) and circumnavigation is a highly challenging problem that is crucial for the safe flight of multi-UAVs (multiple unmanned aerial vehicles). Most methods depend on some external infrastructure for positioning. However, in some complex environments such as forests, it is dif...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2024-04-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/24/7/2347 |
| _version_ | 1797211949581205504 |
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| author | Jia Guo Minggang Gan Kang Hu |
| author_facet | Jia Guo Minggang Gan Kang Hu |
| author_sort | Jia Guo |
| collection | DOAJ |
| description | Relative localization (RL) and circumnavigation is a highly challenging problem that is crucial for the safe flight of multi-UAVs (multiple unmanned aerial vehicles). Most methods depend on some external infrastructure for positioning. However, in some complex environments such as forests, it is difficult to set up such infrastructures. In this paper, an approach to infrastructure-free RL estimations of multi-UAVs is investigated for circumnavigating a slowly drifting UGV0 (unmanned ground vehicle 0), where UGV0 serves as the RL and circumnavigation target. Firstly, a discrete-time direct RL estimator is proposed to ascertain the coordinates of each UAV relative to the UGV0 based on intelligent sensing. Secondly, an RL fusion estimation method is proposed to obtain the final estimate of UGV0. Thirdly, an integrated estimation control scheme is also proposed for the application of the RL fusion estimation method to circumnavigation. The convergence and the performance are analyzed. The simulation results validate the effectiveness of the proposed algorithm for RL fusion estimations and of the integrated scheme. |
| first_indexed | 2024-04-24T10:34:37Z |
| format | Article |
| id | doaj.art-6ac486ccae1d44fe973e6322bf838690 |
| institution | Directory Open Access Journal |
| issn | 1424-8220 |
| language | English |
| last_indexed | 2024-04-24T10:34:37Z |
| publishDate | 2024-04-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj.art-6ac486ccae1d44fe973e6322bf8386902024-04-12T13:26:50ZengMDPI AGSensors1424-82202024-04-01247234710.3390/s24072347Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent SensorsJia Guo0Minggang Gan1Kang Hu2State Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, ChinaState Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, ChinaState Key Laboratory of Intelligent Control and Decision of Complex Systems, School of Automation, Beijing Institute of Technology, Beijing 100081, ChinaRelative localization (RL) and circumnavigation is a highly challenging problem that is crucial for the safe flight of multi-UAVs (multiple unmanned aerial vehicles). Most methods depend on some external infrastructure for positioning. However, in some complex environments such as forests, it is difficult to set up such infrastructures. In this paper, an approach to infrastructure-free RL estimations of multi-UAVs is investigated for circumnavigating a slowly drifting UGV0 (unmanned ground vehicle 0), where UGV0 serves as the RL and circumnavigation target. Firstly, a discrete-time direct RL estimator is proposed to ascertain the coordinates of each UAV relative to the UGV0 based on intelligent sensing. Secondly, an RL fusion estimation method is proposed to obtain the final estimate of UGV0. Thirdly, an integrated estimation control scheme is also proposed for the application of the RL fusion estimation method to circumnavigation. The convergence and the performance are analyzed. The simulation results validate the effectiveness of the proposed algorithm for RL fusion estimations and of the integrated scheme.https://www.mdpi.com/1424-8220/24/7/2347multi-UAVsUGV0RLUWB sensorairborne sensoroptical flow sensor |
| spellingShingle | Jia Guo Minggang Gan Kang Hu Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors Sensors multi-UAVs UGV0 RL UWB sensor airborne sensor optical flow sensor |
| title | Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors |
| title_full | Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors |
| title_fullStr | Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors |
| title_full_unstemmed | Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors |
| title_short | Relative Localization and Circumnavigation of a UGV0 Based on Mixed Measurements of Multi-UAVs by Employing Intelligent Sensors |
| title_sort | relative localization and circumnavigation of a ugv0 based on mixed measurements of multi uavs by employing intelligent sensors |
| topic | multi-UAVs UGV0 RL UWB sensor airborne sensor optical flow sensor |
| url | https://www.mdpi.com/1424-8220/24/7/2347 |
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