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Title: Single landmark distance-based navigation
Authors: Nguyen, Thien-Minh
Qiu, Zhirong
Cao, Muqing
Nguyen, Thien Hoang
Xie, Lihua
Keywords: Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering
Issue Date: 2019
Source: Nguyen, T.-M., Qiu, Z., Cao, M., Nguyen, T. H., & Xie, L. (2019). Single landmark distance-based navigation. IEEE Transactions on Control Systems Technology, 28(5), 2021-2028. doi:10.1109/TCST.2019.2916089
Journal: IEEE Transactions on Control Systems Technology
Abstract: In this brief, we study the distance-based navigation problem of unmanned aerial vehicles (UAVs) by using a single landmark placed at an arbitrarily unknown position. To solve the problem, we propose an integrated estimation-control scheme to simultaneously accomplishes two objectives: relative localization using only distance and odometry measurements, and navigation to the desired location under bounded control input. Asymptotic convergence is obtained by invoking the discrete-time LaSalle's invariance principle in the noise-free case, and the stability under distance measurement noise is also investigated. We also validate our theoretical findings on quadcopters equipped with ultra-wideband ranging sensors and optical flow sensors in a global positioning system (GPS)-less environment.
ISSN: 1063-6536
DOI: 10.1109/TCST.2019.2916089
Schools: School of Electrical and Electronic Engineering 
Organisations: ST Engineering-NTU Corporate Lab
Rights: © 2019 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at:
Fulltext Permission: open
Fulltext Availability: With Fulltext
Appears in Collections:EEE Journal Articles

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