NDLI: Pursuit-Evasion Games of High Speed Evader

Content Provider	Springer Nature Link
Author	Ramana, M. V. Kothari, Mangal
Copyright Year	2016
Abstract	In this paper, we address pursuit-evasion games of high speed evader involving multiple pursuers and a single evader with holonomic constraints in an open domain. The existing work on this problem discussed the required formation and capture strategy for a group of pursuers. However, the formulation has mathematical errors and has raised concerns over the validity of the developed capture strategy. This paper uses the idea of Apollonius circle to develop an escape strategy for the high speed evader, resolving the shortfalls in the existing work. The strategy is built on a concept of perfectly encircled formation and the conditions required to construct the same are presented. The escape strategy contains two steps. Firstly, the evader employs a strategy that forces a gap in the formation against all the admissible strategies of a group of pursuers. In the second step, it uses this gap to escape. The strategy considers both direct and indirect gaps in the formations. The indirect gap is encountered when a group of three or four pursuers is employed to capture. The efficacy of the escape strategy is established using simulation results.
Starting Page	293
Ending Page	306
Page Count	14
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	85
Issue Number	2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2016-07-14
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Pursuit-evasion games Control, Robotics, Mechatronics Electrical Engineering Artificial Intelligence (incl. Robotics) Mechanical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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