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摘要
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. ? 2023 Systems Engineering Society of China.
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