Marzoughi Ali, Savkin Andrey V
School of Electrical Engineering and Industrial Automation, Engineering Institute of Technology, Wellington St, West Perth, WA 6005, Australia.
School of Electrical Engineering and Telecommunications, The University of New South Wales, Sydney, NSW 2052, Australia.
Sensors (Basel). 2021 Jan 4;21(1):297. doi: 10.3390/s21010297.
We study problems of intercepting single and multiple invasive intruders on a boundary of a planar region by employing a team of autonomous unmanned surface vehicles. First, the problem of intercepting a single intruder has been studied and then the proposed strategy has been applied to intercepting multiple intruders on the region boundary. Based on the proposed decentralised motion control algorithm and decision making strategy, each autonomous vehicle intercepts any intruder, which tends to leave the region by detecting the most vulnerable point of the boundary. An efficient and simple mathematical rules based control algorithm for navigating the autonomous vehicles on the boundary of the see region is developed. The proposed algorithm is computationally simple and easily implementable in real life intruder interception applications. In this paper, we obtain necessary and sufficient conditions for the existence of a real-time solution to the considered problem of intruder interception. The effectiveness of the proposed method is confirmed by computer simulations with both single and multiple intruders.
我们通过使用一组自主无人水面舰艇来研究在平面区域边界拦截单个和多个入侵入侵者的问题。首先，研究了拦截单个入侵者的问题，然后将所提出的策略应用于在区域边界拦截多个入侵者。基于所提出的分散运动控制算法和决策策略，每艘自主舰艇通过检测边界的最薄弱点来拦截任何倾向于离开该区域的入侵者。开发了一种基于高效简单数学规则的控制算法，用于在海域边界引导自主舰艇。所提出的算法计算简单，易于在实际的入侵者拦截应用中实现。在本文中，我们获得了所考虑的入侵者拦截问题存在实时解决方案的充要条件。通过对单个和多个入侵者的计算机模拟，证实了所提方法的有效性。
