Cooperative Tracking and Navigation of Multi Aerial Vehicles in GPS-Denied Regions

Date

2024-01-01

Author

Ovec, Naz Tugce
Leblebicioğlu, Mehmet Kemal

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In this study, a combined method for collaborative tracking and formation control in GPS denied regions is proposed. This paper introduces a simulation framework designed to explore cooperative control strategies for multi-agent systems, specifically focusing on formation control and localization in a leader-follower scenario in a GPS-denied environment. Three agents are assumed to be flying in V-formation which have monocular cameras, IMU and altimeters. The necessary information for formation control is obtained via the bearing measurement from the gimballed cameras on the agents which is used to generate a stereo vision effect by consecutive images of the other agent and a relative distance-based navigation strategy is adopted to minimize the navigation errors. The performance of the navigation solution is enhanced by including landmarks in the cooperative navigation scheme with known correspondences. A path planning strategy with an effort on having at least one landmark within the sensing region of the formation whenever feasible is also adopted to set a quality benchmark for the navigation solution.

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https://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=85203581921&origin=inward
https://hdl.handle.net/11511/111201

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Department of Electrical and Electronics Engineering, Conference / Seminar