Boundary Surveillance Using a Novel Target Switching Technique

Abstract

The paper focuses on the analysis of different kinds of patterns that have been generated using an autonomous unicycle agent. This unicycle agent considers only range information for controlling its trajectory. Using this range information the proposed controller controls the angular speed of the agent while keeping its forward speed constant. Based on the revolution of the agent around a stationary target point the paper discusses two different types of annular patterns. This paper also implements a novel target switching strategy called mid-point switching for both types of described annular patterns. The proposed switching strategy found application in a wide range of areas such as landmine de-mining, exploration, area coverage, etc. One of the key applications is surveillance around regular/irregular-shaped boundaries. We have explored this application to demonstrate the utility of the proposed switching technique. We have simulated the implemented approach of switching targets and its application in boundary surveillance to verify the results that we have found.