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首页> 外文期刊>Naval Research Logistics >On the Optimal Detection of an Underwater Intruder in a Channel Using Unmanned Underwater Vehicles
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On the Optimal Detection of an Underwater Intruder in a Channel Using Unmanned Underwater Vehicles

机译：基于无人水下航行器的航道水下入侵者最优检测

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摘要

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.
机译：给定检测通道中的入侵者所需的许多巡逻者，通道巡逻问题包括确定巡逻者必须追踪的周期性轨迹，以便最大程度地检测到入侵者。我们将此问题表述为最优控制问题。我们假设巡逻者的传感器是不完善的，并且他们的运动受到转弯速率的限制，并且入侵者以恒定的速度沿通道向下直线行驶。使用时间和空间的离散化，我们用一个大型非线性规划问题来逼近最优控制问题，我们对该问题进行求解以获得每个巡逻者的近似平稳解和相应的优化轨迹。在对一台，两台和三台水下巡逻机，水下入侵者，不同的轨迹约束，几种入侵者的速度以及其他特定参数选择进行的数值测试中，我们获得了新的见解-在简单的几何计算下不容易获得-在一定条件下有效的巡逻轨迹设计狭窄通道中多个巡逻者的条件，巡逻者之间由于转弯速率的限制而不可避免地要进行交互。

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