Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements
Year: 2025
Type: article
Abstract: In this paper, we investigate the target-approaching control problem for a discrete-time first-order vehicle system where the target area is modeled as a static circular region. In the absence of absolute bearing or position information, we propose a simple local controller that relies solely on range measurements to the target obtained at two consecutive sampling instants. Specifically, if the measured distance decreases between two successive samples, the vehicle maintains a constant velocity; otherwise, it rotates its velocity vector by an angle of π/2 in the clockwise direction. This control strategy guarantees convergence to the target region, ensuring that the vehicle's velocity direction remains unchanged in the best-case scenario and is adjusted at most three times in the worst case. The effectiveness of the proposed method is theoretically established and further validated through outdoor experiments with a mobile vehicle.
Source: Sensors
DOI: 10.3390/s25144497
Authors: Bin Chen, Zhenghao Jing, Yinke Dou, Yan Chen, Liwei Kou
Institution: Taiyuan University of Technology
Language: English
Topic: Guidance and Control Systems
Subfield: Aerospace Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: gold
Estimated APC paid: $3,137
OpenAlex ID: W4412513890