Improving Navigation through Cooperation and Path Planning

Distributed Autonomous System Laboratory

Collaborators and Students: 

Jayadeep Pabbisetty - OSU

Dr. Adam Rutkowski - AFRL (FL)

Project Description: 

In this research, we consider the problem of two autonomous vehicles traveling in a two dimensional environment from an initial goal location to a predefined goal location without any absolute position reference. The objective of the research is to study the effect of cooperation between the vehicles by exchanging measurements such as relative range to help increase the navigation state estimation and its effect on the observability of the system. Without the aid of absolute position reference such as Global Positioning System (GPS) the navigation solution of the system is going to drift with time. The idea here is to reduce the drift of the system with cooperation between the agents by exchanging relative information and to study its effect on the observability of the system while taking different paths.