Pure Pursuit Strategy Enhanced with Defense Margin under Noisy Measurements for Protective Drone Missions

Minjun Sung, Christophe J. Hiltebrandt-Mcintosh, Hunmin Kim, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper investigates the problem of protecting a safe zone against rogue drone intrusion when the defender has noisy observations. The conventional strategies were not sufficient to achieve high mission success rates, prompting the introduction of a concept called defense margin. The proposed strategy improves upon the Pure Pursuit (PP) strategy by incorporating the defense margin strategy, offering better performance compared to using either strategy alone. Simulation results demonstrate the effectiveness of the proposed strategy, resulting in higher mission success rates.

Original languageEnglish (US)
Title of host publication2023 62nd IEEE Conference on Decision and Control, CDC 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1388-1393
Number of pages6
ISBN (Electronic)9798350301243
DOIs
StatePublished - 2023
Externally publishedYes
Event62nd IEEE Conference on Decision and Control, CDC 2023 - Singapore, Singapore
Duration: Dec 13 2023Dec 15 2023

Publication series

NameProceedings of the IEEE Conference on Decision and Control
ISSN (Print)0743-1546
ISSN (Electronic)2576-2370

Conference

Conference62nd IEEE Conference on Decision and Control, CDC 2023
Country/TerritorySingapore
CitySingapore
Period12/13/2312/15/23

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Control and Optimization

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