Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

Samet Guler; Baris Fidan; Soura Dasgupta; Brian D. O Anderson; Iman Shames

doi:10.1109/TAC.2016.2621764

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Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

Journal article

Peer reviewed

Adaptive Source Localization Based Station Keeping of Autonomous Vehicles

Samet Guler, Baris Fidan, Soura Dasgupta, Brian D. O Anderson and Iman Shames

IEEE transactions on automatic control, Vol.62(7), pp.3122-3135

07/2017

DOI: 10.1109/TAC.2016.2621764

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Abstract

We study the problem of driving a mobile sensory agent to a target whose location is specified only in terms of the distances to a set of sensor stations or beacons. The beacon positions are unknown, but the agent can continuously measure its distances to them as well as its own position. This problem has two particular applications: (1) capturing a target signal source whose distances to the beacons are measured by these beacons and broadcasted to a surveillance agent, (2) merging a single agent to an autonomous multi-agent system so that the new agent is positioned at desired distances from the existing agents. The problem is solved using an adaptive control framework integrating a parameter estimator producing beacon location estimates, and an adaptive motion control law fed by these estimates to steer the agent toward the target. For location estimation, a least-squares adaptive law is used. The motion control law aims to minimize a convex cost function with unique minimizer at the target location, and is further augmented for persistence of excitation. Stability and convergence analysis is provided, as well as simulation results demonstrating performance and transient behavior.

Adaptive control

autonomous robots

Convergence

cooperative control

Cost function

Distance measurement

Mobile agents

Motion control

optimization

Robot sensing systems

sensor networks

Details

Title: Subtitle: Adaptive Source Localization Based Station Keeping of Autonomous Vehicles
Creators: Samet Guler - King Abdullah University of Science and Technology
Baris Fidan - University of Waterloo
Soura Dasgupta - University of Iowa
Brian D. O Anderson - Australian National University
Iman Shames - The University of Melbourne
Resource Type: Journal article
Publication Details: IEEE transactions on automatic control, Vol.62(7), pp.3122-3135
DOI: 10.1109/TAC.2016.2621764
ISSN: 0018-9286
eISSN: 1558-2523
Publisher: IEEE
Grant note: EPS-1101284; CNS-1329657; CCF-1302456 / US NSF Thousand Talents Program of the State and Shandong Province N00014-13-1-0202 / ONR (10.13039/100000006) Shandong Academy of Sciences, China 116806 / Canadian NSERC Discovery (10.13039/501100000038)
Language: English
Date published: 07/2017
Academic Unit: Electrical and Computer Engineering
Record Identifier: 9984197222902771

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