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On the optimal detection of an underwater intruder in a channel using unmanned underwater vehicles

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Listed:
  • Hoam Chung
  • Elijah Polak
  • Johannes O. Royset
  • Shankar Sastry

Abstract

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

Suggested Citation

  • Hoam Chung & Elijah Polak & Johannes O. Royset & Shankar Sastry, 2011. "On the optimal detection of an underwater intruder in a channel using unmanned underwater vehicles," Naval Research Logistics (NRL), John Wiley & Sons, vol. 58(8), pages 804-820, December.
    • Handle: RePEc:wly:navres:v:58:y:2011:i:8:p:804-820
    DOI: 10.1002/nav.20487
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    References listed on IDEAS

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    1. Akira Ohsumi, 1991. "Optimal search for a Markovian target," Naval Research Logistics (NRL), John Wiley & Sons, vol. 38(4), pages 531-554, August.
    2. Stanley J. Benkoski & Michael G. Monticino & James R. Weisinger, 1991. "A survey of the search theory literature," Naval Research Logistics (NRL), John Wiley & Sons, vol. 38(4), pages 469-494, August.
    3. Alan R. Washburn, 1982. "On patrolling a channel," Naval Research Logistics Quarterly, John Wiley & Sons, vol. 29(4), pages 609-615, December.
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    1. Alpern, Steve & Lidbetter, Thomas & Papadaki, Katerina, 2019. "Optimizing periodic patrols against short attacks on the line and other networks," European Journal of Operational Research, Elsevier, vol. 273(3), pages 1065-1073.
    2. Joseph Foraker & Seungho Lee & Elijah Polak, 2016. "Validation of a strategy for harbor defense based on the use of a min‐max algorithm receding horizon control law," Naval Research Logistics (NRL), John Wiley & Sons, vol. 63(3), pages 247-259, April.
    3. Claire Walton & Panos Lambrianides & Isaac Kaminer & Johannes Royset & Qi Gong, 2018. "Optimal motion planning in rapid‐fire combat situations with attacker uncertainty," Naval Research Logistics (NRL), John Wiley & Sons, vol. 65(2), pages 101-119, March.
    4. Calvin Kielas-Jensen & Venanzio Cichella & David Casbeer & Satyanarayana Gupta Manyam & Isaac Weintraub, 2021. "Persistent Monitoring by Multiple Unmanned Aerial Vehicles Using Bernstein Polynomials," Journal of Optimization Theory and Applications, Springer, vol. 191(2), pages 899-916, December.

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