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 language||English (US)|
|Title of host publication||2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019|
|Publisher||Institute of Electrical and Electronics Engineers Inc.|
|Number of pages||6|
|State||Published - Nov 2019|
|Event||2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019 - Macau, China|
Duration: Nov 3 2019 → Nov 8 2019
|Name||IEEE International Conference on Intelligent Robots and Systems|
|Conference||2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2019|
|Period||11/3/19 → 11/8/19|
Bibliographical noteFunding 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 : email@example.com, firstname.lastname@example.org, email@example.com
© 2019 IEEE.