Cooperative Dynamic Fuzzy Perimeter Surveillance: Modeling and Fluid-Based Framework

In this article, considering the performance limitations of the sensors used in real missions, the cooperative dynamic fuzzy perimeter surveillance (CDFPS) problem and its fluid-based solution framework are proposed for the first time. First, the two-dimensional concentration diffusion distribution function is used to imitate an irregular dynamic perimeter. Then, according to the onboard sensor resolution ratio, a fuzzification process is applied for the perimeter area. On this basis, the detected fuzzy perimeter area is modeled with virtual obstacles (VOs). Considering an obstacle set composed of VOs, fixed obstacles and agents, we transform the CDFPS problem into a unified obstacle avoidance problem for the first time and a fluid-based path planning method is designed based on restrained interfered fluid dynamical system and Lyapunov guidance vector field. To quantify the surveillance effect, two indexes for the CDFPS problem are proposed: the perimeter neutrality index and the phase angle uniformity index. Around these proposed indexes, the attractive/repulsive effects and the multiagent cooperative mechanism are constructed. Finally, the receding horizon control is introduced to further improve the surveillance effect. Simulations show that the proposed framework can drive agents to persistently track the perimeter and establish relatively stable phase angle offsets between adjacent agents.