Show simple item record

dc.contributor.authorGuler, Samet
dc.contributor.authorFidan, Baris 16:13:13 (GMT) 16:13:13 (GMT)
dc.descriptionThe final publication is available at Elsevier via © 2018. This manuscript version is made available under the CC-BY-NC-ND 4.0 license
dc.description.abstractTarget capture and station keeping problems for an autonomous vehicle agent have been studied in the literature for the cases where the position of the agent can be measured. Station keeping refers to moving the agent to a target whose distances are predefined from a set of beacons that can be stations or other agents. Here we study the target capture and station keeping problems for a nonholonomic vehicle agent that does not know its location and can measure only distances to the target (to the beacons for station keeping). This sensing limitation corresponds to consideration of unavailability of GPS and odometry in practical UAV settings. For each of the target capture and station keeping problems, we propose a control algorithm that uses only agent-target (agent-beacon for station keeping) range and range rate information. We show the stability and convergence properties of our control algorithms. We verified the performance of our control algorithms by simulations and real time experiments on a ground robot. Our algorithms captured the target in finite time in the experiments. Therefore, our algorithms are efficient in scenarios where GPS is unavailable or target identification by vision algorithms is unreliable but continuous agent-target range measurements are available.en
dc.description.sponsorshipKing Abdullah University of Science and Technologyen
dc.rightsAttribution-NonCommercial-NoDerivatives 4.0 International*
dc.subjectTarget captureen
dc.subjectStation keepingen
dc.subjectGPS denied environmenten
dc.subjectNonholonomic vehicleen
dc.titleTarget capture and station keeping of fixed speed vehicles without self-location informationen
dcterms.bibliographicCitationGüler, S., & Fidan, B. (2018). Target capture and station keeping of fixed speed vehicles without self-location information. European Journal of Control, 43, 1–11. doi:10.1016/j.ejcon.2018.06.003en
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Mechanical and Mechatronics Engineeringen

Files in this item


This item appears in the following Collection(s)

Show simple item record

Attribution-NonCommercial-NoDerivatives 4.0 International
Except where otherwise noted, this item's license is described as Attribution-NonCommercial-NoDerivatives 4.0 International


University of Waterloo Library
200 University Avenue West
Waterloo, Ontario, Canada N2L 3G1
519 888 4883

All items in UWSpace are protected by copyright, with all rights reserved.

DSpace software

Service outages