Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments

Fei Dong; Yachu Hsu; Keyou You

doi:10.1109/ICCA.2019.8899523

Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments

Fei Dong
, Yachu Hsu
, Keyou You^*

^*Corresponding author for this work

Tsinghua University

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

5 Scopus citations

Abstract

This paper investigates the control problem of a Dubins-like robot to circumnavigate an unknown target with a prescribed radius in GPS-denied environments. Considering the sensing capabilities of small robots, the current distance to the target is the only measurement. A coordinate free range-only control law is devised to force the robot to achieve the objective of target circumnavigation. The proposed controller can guarantee global convergence irrespective of the initial states and locally exponential convergence near the equilibrium point. Furthermore, the selection of control parameters is independent of the initial states. The effectiveness and advantages of our approach are validated via simulations.

Original language	English
Title of host publication	2019 IEEE 15th International Conference on Control and Automation, ICCA 2019
Publisher	IEEE Computer Society
Pages	411-416
Number of pages	6
ISBN (Electronic)	9781728111643
DOIs	https://doi.org/10.1109/ICCA.2019.8899523
State	Published - Jul 2019
Externally published	Yes
Event	15th IEEE International Conference on Control and Automation, ICCA 2019 - Edinburgh, United Kingdom Duration: 16 Jul 2019 → 19 Jul 2019

Publication series

Name	IEEE International Conference on Control and Automation, ICCA
Volume	2019-July
ISSN (Print)	1948-3449
ISSN (Electronic)	1948-3457

Conference

Conference	15th IEEE International Conference on Control and Automation, ICCA 2019
Country/Territory	United Kingdom
City	Edinburgh
Period	16/07/19 → 19/07/19

Access to Document

10.1109/ICCA.2019.8899523

Cite this

Dong, F., Hsu, Y., & You, K. (2019). Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments. In 2019 IEEE 15th International Conference on Control and Automation, ICCA 2019 (pp. 411-416). Article 8899523 (IEEE International Conference on Control and Automation, ICCA; Vol. 2019-July). IEEE Computer Society. https://doi.org/10.1109/ICCA.2019.8899523

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title = "Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments",

abstract = "This paper investigates the control problem of a Dubins-like robot to circumnavigate an unknown target with a prescribed radius in GPS-denied environments. Considering the sensing capabilities of small robots, the current distance to the target is the only measurement. A coordinate free range-only control law is devised to force the robot to achieve the objective of target circumnavigation. The proposed controller can guarantee global convergence irrespective of the initial states and locally exponential convergence near the equilibrium point. Furthermore, the selection of control parameters is independent of the initial states. The effectiveness and advantages of our approach are validated via simulations.",

author = "Fei Dong and Yachu Hsu and Keyou You",

note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 15th IEEE International Conference on Control and Automation, ICCA 2019 ; Conference date: 16-07-2019 Through 19-07-2019",

year = "2019",

month = jul,

doi = "10.1109/ICCA.2019.8899523",

language = "英语",

series = "IEEE International Conference on Control and Automation, ICCA",

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Dong, F, Hsu, Y & You, K 2019, Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments. in 2019 IEEE 15th International Conference on Control and Automation, ICCA 2019., 8899523, IEEE International Conference on Control and Automation, ICCA, vol. 2019-July, IEEE Computer Society, pp. 411-416, 15th IEEE International Conference on Control and Automation, ICCA 2019, Edinburgh, United Kingdom, 16/07/19. https://doi.org/10.1109/ICCA.2019.8899523

Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments. / Dong, Fei; Hsu, Yachu; You, Keyou.
2019 IEEE 15th International Conference on Control and Automation, ICCA 2019. IEEE Computer Society, 2019. p. 411-416 8899523 (IEEE International Conference on Control and Automation, ICCA; Vol. 2019-July).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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N2 - This paper investigates the control problem of a Dubins-like robot to circumnavigate an unknown target with a prescribed radius in GPS-denied environments. Considering the sensing capabilities of small robots, the current distance to the target is the only measurement. A coordinate free range-only control law is devised to force the robot to achieve the objective of target circumnavigation. The proposed controller can guarantee global convergence irrespective of the initial states and locally exponential convergence near the equilibrium point. Furthermore, the selection of control parameters is independent of the initial states. The effectiveness and advantages of our approach are validated via simulations.

AB - This paper investigates the control problem of a Dubins-like robot to circumnavigate an unknown target with a prescribed radius in GPS-denied environments. Considering the sensing capabilities of small robots, the current distance to the target is the only measurement. A coordinate free range-only control law is devised to force the robot to achieve the objective of target circumnavigation. The proposed controller can guarantee global convergence irrespective of the initial states and locally exponential convergence near the equilibrium point. Furthermore, the selection of control parameters is independent of the initial states. The effectiveness and advantages of our approach are validated via simulations.

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Circumnavigation of an Unknown Target Using Range-only Measurements in GPS-denied Environments

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