A control strategy to ensure the continuous surveillance of an intruder that moves from an open region to a cluttered region is presented. Long-range sensors can provide the intruder’s position while in the open region. The effectiveness of these sensors can be compromised in cluttered regions due to obstructions such as buildings and vegetation. The proposed controller guarantees that the intruder is within the sensing range of the on-board sensor of a surveillance mobile robot as the intruder crosses into the cluttered region, ensuring the continuous tracking of the intruder. The controller considers the bounds on the speed of the surveillance robot and its on-board sensor. The effectiveness of the proposed solution is showcased in simulations.
Ensured Continuous Surveillance Despite Sensor Transition Using Control Barrier Functions
Springer Proceedings in Advanced Robotics
The International Symposium of Robotics Research ; 2022 ; Geneva, Switzerland September 25, 2022 - September 30, 2022
2023-03-08
16 pages
Article/Chapter (Book)
Electronic Resource
English
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