Algorithm for Optimal Two-Link Trajectory Planning in Evasion from Detection Problem of Mobile Vehicle with Non-Uniform Radiation Pattern

Authors

  • Andrey Galyaev V.A. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia
  • Pavel Lysenko V.A. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia; Moscow Institute of Physics and Technology, Dolgoprudny, Russia
  • Victor Yakhno V.A. Trapeznikov Institute of Control Sciences, Russian Academy of Sciences, Moscow, Russia

DOI:

https://doi.org/10.25728/assa.2021.21.2.1061

Keywords:

UUV path/trajectory planning, non-detection probability, non-uniform radiation pattern, evasion from detection

Abstract

The problem of an optimal PP/TP (path/trajectory planning) evasion of a mobile vehicle from the detection is considered. The objective is to minimize the risk of a moving vehicle being detected by a static sensor when moving between two specified points on the plane. Detection is based on the primary acoustic field emitted by a vehicle with an inhomogeneous radiation pattern. An algorithm for finding a two-link optimal trajectory is proposed. The optimal trajectory and the law of speed of a mobile vehicle, as well as the value of the criterion, are found.

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Published

2021-06-30

How to Cite

Galyaev, A., Lysenko, P., & Yakhno, V. (2021). Algorithm for Optimal Two-Link Trajectory Planning in Evasion from Detection Problem of Mobile Vehicle with Non-Uniform Radiation Pattern. Advances in Systems Science and Applications, 21(2), 71–82. https://doi.org/10.25728/assa.2021.21.2.1061

Issue

Vol. 21 No. 2 (2021): Advances in Systems Science and Applications

Section

Articles