On the optimal detection of an underwater intruder in a channel using unmanned underwater vehicles
Given a number of patrollers that are required to detect an intruder in a channel, the channel patrol problem consists of determining the periodic trajectories that the patrollers must trace out so as to maximized the probability of detection of the intruder. We formulate this problem as an optimal...
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| Published in | Naval research logistics Vol. 58; no. 8; pp. 804 - 820 |
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| Main Authors | , , , |
| Format | Journal Article |
| Language | English |
| Published |
Hoboken
Wiley Subscription Services, Inc., A Wiley Company
01.12.2011
Wiley Subscription Services, Inc |
| Subjects | |
| Online Access | Get full text |
| ISSN | 0894-069X 1520-6750 1520-6750 |
| DOI | 10.1002/nav.20487 |
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| Summary: | Given a number of patrollers that are required to detect an intruder in a channel, the channel patrol problem consists of determining the periodic trajectories that the patrollers must trace out so as to maximized the probability of detection of the intruder. We formulate this problem as an optimal control problem. We assume that the patrollers' sensors are imperfect and that their motions are subject to turn‐rate constraints, and that the intruder travels straight down a channel with constant speed. Using discretization of time and space, we approximate the optimal control problem with a large‐scale nonlinear programming problem which we solve to obtain an approximately stationary solution and a corresponding optimized trajectory for each patroller. In numerical tests for one, two, and three underwater patrollers, an underwater intruder, different trajectory constraints, several intruder speeds and other specific parameter choices, we obtain new insight—not easily obtained using simply geometric calculations—into efficient patrol trajectory design under certain conditions for multiple patrollers in a narrow channel where interaction between the patrollers is unavoidable due to their limited turn rate.© 2011 Wiley Periodicals, Inc. Naval Research Logistics, 2011 |
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| Bibliography: | The reason for using this "hybrid" space is that our cost and constraint functions are differentiable on L ∞,2n u[0,1], but they are not necessarily differentiable on the well-know space L 2n u[0,1] of Lebesgue square-integrable functions with the same scalar product and norm; see Section 5.6 in [12]. ark:/67375/WNG-MT5F8J3C-W ArticleID:NAV20487 AFOSR Young Investigator - No. F1ATA08337G003 ONR MURI "Computational Methods for Collaborative Motion" Quoting from Daily Mail Online, November 11th, 2007, "American military chiefs have been left dumbstruck by an undetected Chinese submarine popping up at the heart of a recent Pacific exercise and close to the vast U.S.S. Kitty Hawk - a 1000 ft super carrier with 4500 personnel on board. By the time it surfaced the 160 ft Song Class diesel-electric attack submarine is understood to have sailed within viable range for launching torpedoes or missiles at the carrier," by Matthew Hickley. ONR Science of Autonomy Program (CoMotion), and ARO MURI "Scalable SWARMS of Autonomous Robots and Mobile Sensors" (SWARMS) istex:881024CFAF597B2B0F09F6DC680B663275DF93CE Quoting from Daily Mail Online, November 11th, 2007, “American military chiefs have been left dumbstruck by an undetected Chinese submarine popping up at the heart of a recent Pacific exercise and close to the vast U.S.S. Kitty Hawk ‐ a 1000 ft super carrier with 4500 personnel on board. By the time it surfaced the 160 ft Song Class diesel‐electric attack submarine is understood to have sailed within viable range for launching torpedoes or missiles at the carrier,” by Matthew Hickley. [0,1], but they are not necessarily differentiable on the well‐know space 12 The reason for using this “hybrid” space is that our cost and constraint functions are differentiable on 2 [0,1] of Lebesgue square‐integrable functions with the same scalar product and norm; see Section 5.6 in u L ∞ n . ObjectType-Article-1 SourceType-Scholarly Journals-1 ObjectType-Feature-2 content type line 14 content type line 23 |
| ISSN: | 0894-069X 1520-6750 1520-6750 |
| DOI: | 10.1002/nav.20487 |