Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements
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 ran...
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| Format: | Article |
| Language: | English |
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MDPI AG
2025-07-01
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| Series: | Sensors |
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| Online Access: | https://www.mdpi.com/1424-8220/25/14/4497 |
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| author | Bin Chen Zhenghao Jing Yinke Dou Yan Chen Liwei Kou |
| author_facet | Bin Chen Zhenghao Jing Yinke Dou Yan Chen Liwei Kou |
| author_sort | Bin Chen |
| collection | DOAJ |
| description | 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 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>π</mi><mo>/</mo><mn>2</mn></mrow></semantics></math></inline-formula> 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. |
| format | Article |
| id | doaj-art-5d92c8c1b7c34cd0b671e78b759aae76 |
| institution | Kabale University |
| issn | 1424-8220 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Sensors |
| spelling | doaj-art-5d92c8c1b7c34cd0b671e78b759aae762025-08-20T03:32:16ZengMDPI AGSensors1424-82202025-07-012514449710.3390/s25144497Target Approaching Control Under a GPS-Denied Environment with Range-Only MeasurementsBin Chen0Zhenghao Jing1Yinke Dou2Yan Chen3Liwei Kou4College of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaCollege of Mechanical Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaCollege of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaCollege of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaCollege of Electrical and Power Engineering, Taiyuan University of Technology, Taiyuan 030024, ChinaIn 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 <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mi>π</mi><mo>/</mo><mn>2</mn></mrow></semantics></math></inline-formula> 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.https://www.mdpi.com/1424-8220/25/14/4497localizationtarget approaching controldistance measurements |
| spellingShingle | Bin Chen Zhenghao Jing Yinke Dou Yan Chen Liwei Kou Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements Sensors localization target approaching control distance measurements |
| title | Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements |
| title_full | Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements |
| title_fullStr | Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements |
| title_full_unstemmed | Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements |
| title_short | Target Approaching Control Under a GPS-Denied Environment with Range-Only Measurements |
| title_sort | target approaching control under a gps denied environment with range only measurements |
| topic | localization target approaching control distance measurements |
| url | https://www.mdpi.com/1424-8220/25/14/4497 |
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