Primitive Path Generation for a UWB Network Based Auto Landing System

Abstract

In this paper, an overall systemic procedure of autonomous-landing system is provided, where positioning system basis on Ultra-wideband (UWB). Using the UWB positioning network, positioning precision can be characterized by the user (UAV)-to-ranging source (UWB anchor) geometry and often quantified as Dilution of Precision (DOP) value. To minimize the probability of collision with the ground or other UAVs during landing procedure, positioning accuracy should be considered. Therefore, we developed a path planning algorithm considering DOP value by modifying Artificial Potential field method. In addition, this paper will also provide a systematic procedure to land multiple UAVs with minimal collision probability while sharing a single UWB network.