Abstract
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.
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This work was supported by the DEVCOM Army Research Laboratory DCIST Collaborative Research Alliance program W911NF-17-2-0181.
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Guerrero-Bonilla, L., Nieto-Granda, C., Egerstedt, M. (2023). Ensured Continuous Surveillance Despite Sensor Transition Using Control Barrier Functions. In: Billard, A., Asfour, T., Khatib, O. (eds) Robotics Research. ISRR 2022. Springer Proceedings in Advanced Robotics, vol 27. Springer, Cham. https://doi.org/10.1007/978-3-031-25555-7_28
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DOI: https://doi.org/10.1007/978-3-031-25555-7_28
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