基于Stackelberg安全博弈的多无人机边境巡逻问题研究  

Border patrol using multiple unmanned aerial vehicles based on Stackelberg security game

作　　者：雷星 胡笑旋[1,2,3] 王国强 罗贺[1,2,3] LEI Xing;HU Xiaoxuan;WANG Guoqiang;LUO He(School of Management,Hefei University of Technology,Hefei 230009,China;MOE Key Laboratory of Process Optimization&Intelligent Decision-making,Hefei 230009,China;Intelligent Interconnected Systems Laboratory of Anhui Province,Hefei 230009,China)

机构地区：[1]合肥工业大学管理学院,合肥230009 [2]过程优化与智能决策教育部重点实验室,合肥230009 [3]智能互联系统安徽省实验室,合肥230009

出　　处：《系统工程理论与实践》2023年第3期889-909,共21页Systems Engineering-Theory & Practice

基　　金：国家自然科学基金(71971075,71871079,72271076,72188101)。

摘　　要：无人机技术的发展使其在边境巡逻监测任务中承担了重要角色,而无人机续航时间的限制、多类型的越境方以及越境方的观测行为等现实因素对无人机巡逻策略的制定提出了新的难题.针对上述问题,首先构建了由多架无人机构成的巡逻方和多个越境方之间的Stackelberg安全博弈模型,其中巡逻策略和越境策略是基于所设计的有向图来描述的;进一步证明了巡逻策略与有向图上边际覆盖量之间的等价关系,进而将原博弈模型转化为了有向图最优边际覆盖的线性规划问题,并设计了两阶段映射算法;最后在仿真实验中,通过一个具体实例阐述了边际覆盖量到混合策略的转化过程,并在生成的数据集上从模型求解效率、巡逻策略的有效性和鲁棒性三方面进行了对比实验.实验结果表明转化后的模型能够有效应对指数级规模的巡逻策略给博弈求解带来的计算挑战,且能够给出具有较高质量以及较强鲁棒性的巡逻策略.Unmanned aerial vehicle(UAV)has gradually played an important role in border monitoring tasks.However,challenges remain in developing patrolling strategies of UAVs due to the limited flight duration of UAV,multiple types of border crossers and the observation behavior of the border crossers.To solve the above problems,first,a Stackelberg security game is modeled between multiple UAVs and border crossers.The patrolling strategies and crossing strategies are described based on the designed directed graph.Second,the equivalent relationship between the patrolling strategies and the marginal coverage of directed graph is proved,and the game is transformed into a linear programming problem.A two-stage mapping algorithm is then designed.Third,the transformation process from marginal coverage to the mixed strategy is described through an example,and computational experiments are constructed on the generated data sets from efficiency,effectiveness and robustness.The experimental results show that the linear programming problem can effectively deal with the computational challenges brought by the exponential patrolling strategies,and the patrolling strategies achieves a higher quality and has a strong robustness.

关 键 词：Stackelberg安全博弈 无人机 边境巡逻 非法越境活动 线性规划问题 

分 类 号：O221[理学—运筹学与控制论]