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Title: Single Vehicle Localization and Routing in GPS-Denied Environments Using Range-Only Measurements

Abstract

Path planning algorithms for unmanned aerial or ground vehicles rely on Global Positioning System (GPS) information for localization in many surveillance and reconnaissance applications. However, disruption of GPS signals, by intention or otherwise, can render these algorithms ineffective. This paper provides a way of addressing this issue by leveraging range information from additionally placed stationary objects in the environment called Landmarks (LMs). The placement of LMs and the route followed by the vehicle is posed as an integer program such that the total travel and LM placement cost is minimized. The proposed formulation of the optimization problem also allows for a limited field-of-view of the sensor on-board the vehicle. For instances that are hard to solve for optimal solutions using the integer program, we present two fast heuristics to find good feasible solutions. We provide a systematic framework and algorithms for the problem, and evaluate the system using numerical, simulation and experimental results.

Authors:
ORCiD logo [1]; ORCiD logo [2]; ORCiD logo [3]; ORCiD logo [1]; ORCiD logo [2]
  1. Univ. of Cincinnati, OH (United States)
  2. Texas A & M Univ., College Station, TX (United States)
  3. Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Publication Date:
Research Org.:
Los Alamos National Lab. (LANL), Los Alamos, NM (United States)
Sponsoring Org.:
National Science Foundation (NSF); USDOE
OSTI Identifier:
1616425
Report Number(s):
LA-UR-19-31867
Journal ID: ISSN 2169-3536
Grant/Contract Number:  
89233218CNA000001
Resource Type:
Accepted Manuscript
Journal Name:
IEEE Access
Additional Journal Information:
Journal Volume: 8; Journal ID: ISSN 2169-3536
Publisher:
IEEE
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; autonomous aerial vehicles; Global Positioning System; integer programming; mobile robots; path planning

Citation Formats

Misra, Sohum, Wang, Bingyu, Sundar, Kaarthik, Sharma, Rajnikant, and Rathinam, Sivakumar. Single Vehicle Localization and Routing in GPS-Denied Environments Using Range-Only Measurements. United States: N. p., 2019. Web. https://doi.org/10.1109/ACCESS.2019.2963286.
Misra, Sohum, Wang, Bingyu, Sundar, Kaarthik, Sharma, Rajnikant, & Rathinam, Sivakumar. Single Vehicle Localization and Routing in GPS-Denied Environments Using Range-Only Measurements. United States. https://doi.org/10.1109/ACCESS.2019.2963286
Misra, Sohum, Wang, Bingyu, Sundar, Kaarthik, Sharma, Rajnikant, and Rathinam, Sivakumar. Tue . "Single Vehicle Localization and Routing in GPS-Denied Environments Using Range-Only Measurements". United States. https://doi.org/10.1109/ACCESS.2019.2963286. https://www.osti.gov/servlets/purl/1616425.
@article{osti_1616425,
title = {Single Vehicle Localization and Routing in GPS-Denied Environments Using Range-Only Measurements},
author = {Misra, Sohum and Wang, Bingyu and Sundar, Kaarthik and Sharma, Rajnikant and Rathinam, Sivakumar},
abstractNote = {Path planning algorithms for unmanned aerial or ground vehicles rely on Global Positioning System (GPS) information for localization in many surveillance and reconnaissance applications. However, disruption of GPS signals, by intention or otherwise, can render these algorithms ineffective. This paper provides a way of addressing this issue by leveraging range information from additionally placed stationary objects in the environment called Landmarks (LMs). The placement of LMs and the route followed by the vehicle is posed as an integer program such that the total travel and LM placement cost is minimized. The proposed formulation of the optimization problem also allows for a limited field-of-view of the sensor on-board the vehicle. For instances that are hard to solve for optimal solutions using the integer program, we present two fast heuristics to find good feasible solutions. We provide a systematic framework and algorithms for the problem, and evaluate the system using numerical, simulation and experimental results.},
doi = {10.1109/ACCESS.2019.2963286},
journal = {IEEE Access},
number = ,
volume = 8,
place = {United States},
year = {2019},
month = {12}
}

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