期刊
出版社
IEEE
DOI: 10.1109/APWCS50173.2021.9548721
关键词
Unmanned Aerial Vehicle (UAV); vehicle tracking; Ultra-Wide Band (UWB)
类别
资金
- MSIT(Ministry of Science and ICT), Korea, under the ITRC(Information Technology Research Center) support program [IITP-2021-2017-001637]
The proposed system uses UWB technology for multiple UAVs to localize and track a ground vehicle, achieving accurate ground vehicle localization through communication with mobile anchors. Experimental results show localization error within 0.2m.
We present an Ultra-Wide Band (UWB)-based multiple Unmanned Aerial Vehicle (UAV) control system architecture to localize and track a ground vehicle. A team of UAVs self-localizes its position and measures distance to a ground vehicle using the mounted UWB module. The server utilizes the estimated position of UAV and distance measurements collected from radio communication between ground vehicle and UAVs (i.e., mobile anchor) in order to localize the ground vehicle accurately. The server then sends next setpoint to each UAVs and enables UAVs to form a polygon-shaped formation with a ground vehicle located at the center. We demonstrate our proposed system through the indoor ground vehicle tracking experiment. Our experiment results show that localization error with the mobile anchors is less than 0.2m; in addition, the fixed anchors can be replaced with the mobile anchors.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据