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arXiv · 1910.12780

Non-Centralized Navigation for Source Localization by Cooperative UAVs

Anna Guerra·Davide Dardari·Petar M. Djuric
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Abstract

In this paper, we propose a distributed solution to the navigation of a population of unmanned aerial vehicles (UAVs) to best localize a static source. The network is considered heterogeneous with UAVs equipped with received signal strength (RSS) sensors from which it is possible to estimate the distance from the source and/or the direction of arrival through ad-hoc rotations. This diversity in gathering and processing RSS measurements mitigates the loss of localization accuracy due to the adoption of low-complexity sensors. The UAVs plan their trajectories on-the-fly and in a distributed fashion. The collected data are disseminated through the network via multi-hops, therefore being subject to latency. Since not all the paths are equal in terms of information gathering rewards, the motion planning is formulated as a minimization of the uncertainty of the source position under UAV kinematic and anti-collision constraints and performed by 3D non-linear programming. The proposed analysis takes into account non-line-of-sight (NLOS) channel conditions as well as measurement age caused by the latency constraints in communication.

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Anna Guerra, Davide Dardari, Petar M. Djuric. 2019-10-28. Non-Centralized Navigation for Source Localization by Cooperative UAVs. https://doi.org/10.23919/eusipco.2019.8902944

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