UAV Landing at an Unknown Location Marked by a Radio Beacon

Nikolaos Stefas, Haluk Bayram, Volkan Isler

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Scopus citations

Abstract

We consider the problem of minimizing the time to approach and land near a target radio beacon at an unknown location with an Unmanned Aerial Vehicle (UAV). We show that a cone-like region exists above the target inside of which bearing measurements of a directional antenna lose directionality: signal recordings in all directions yield similar signal strength. We present a geometric model of this region based on antenna simulations and data collected with a real system. Our main contribution is a strategy that takes advantage of a UAV's ability to change altitude and exploits a special structure occurring when approaching the target beacon from above to reduce the flight time required to land near the beacon. We analyze the performance of our strategy and demonstrate through simulations that by exploiting this structure we can achieve shorter flight times than our previous work.

Original languageEnglish (US)
Title of host publication2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages4409-4414
Number of pages6
ISBN (Electronic)9781728140049
DOIs
StatePublished - Nov 2019
Event2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China
Duration: Nov 3 2019Nov 8 2019

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Conference

Conference2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019
Country/TerritoryChina
CityMacau
Period11/3/1911/8/19

Bibliographical note

Funding Information:
This work is supported in part by MnDRIVE, NSF awards #1525045 and #1617718 and MN LCCMR. H. Bayram is also supported by TUBITAK 2232 (#119C008). Stefas and Isler are at the University of Minnesota. Bayram is at Istanbul Medeniyet University. Emails : stefa125@umn.edu, isler@umn.edu, haluk.bayram@medeniyet.edu.tr

Publisher Copyright:
© 2019 IEEE.

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