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Session A4: Autonomous Applications

Active Guidance for Cooperative Navigation in a GPS-Denied Environment
He Bai, Shahbaz P. Qadri Syed, Oklahoma State University, Stillwater; Kevin Brink, Air Force Research Laboratory; Clark Taylor, Air Force Institute of Technology; Ryan Sherrill, Air Force Research Laboratory
Date/Time: Thursday, Sep. 19, 2:58 p.m.

In a GPS-denied environment, it is well know that using only odometry measurements leads to drift in vehicle localization. For a group of vehicles, it is possible to leverage inter-vehicle measurements and restrict the localization drift. In this paper, we consider a cooperative navigation problem for a group of vehicles in a GPS-denied environment. Besides odometry information, the vehicles also measure relative range information between them. We aim to create active guidance strategies that improve cooperative localization performance given the measured range and odometry information. Motivated by the popular smoothing and mapping framework, we propose a metric to measure the quality of a path for cooperative navigation. We design a cooperative active guidance algorithm to optimize such a metric numerically. From our Monte-Carlo simulation results, the active guidance algorithm significantly reduces the localization uncertainty and successfully guides the vehicles to their goal locations.



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