Approximation of Capture Sets in Visibility-Based Target-Tracking Games for Non-Holonomic Players

2017 ◽  
Author(s):  
Rui Zou ◽  
Sourabh Bhattacharya
Keyword(s):  
Target Tracking ◽  
Computing Time ◽  
Line Of Sight ◽  
Differential Drive ◽  
Pursuit Evasion ◽  
Optimal Paths ◽  
Evasion Game ◽  
Time Optimal ◽  
Differential Drive Robot ◽  
Arbitrary Line

In this work, we analyze approximations of capture sets [1] for a visibility based pursuit-evasion game. In contrast to the capture problem, the pursuer tries to maintain a line-of-sight with the evader in free space in our problem. We extend the concept of U set initially proposed in [2] for holonomic players to the scenario in which the pursuer is holonomic. The problem of computing the U set is reduced to that of computing time-optimal paths for the non-holonomic vehicles to an arbitrary line. We characterize the primitives for time-optimal paths for the Dubin’s vehicle, Reed-shepps car and a Differential Drive robot. Based on these primitives, we construct the optimal paths and provide an algorithm to compute the U set.

Single Landmark Feedback-based Time Optimal Navigation for a Differential Drive Robot

2021 ◽  
Author(s):  
Vladimir Macias ◽  
Israel Becerra ◽  
Edgar Martinez ◽  
Rafael Murrieta-Cid ◽  
Hector M. Becerrra
Keyword(s):  
Differential Drive ◽  
Time Optimal ◽  
Differential Drive Robot

scholarly journals A pursuit–evasion game between two identical differential drive robots

2020 ◽  
Vol 357 (10) ◽  
pp. 5773-5808
Author(s):  
Luis Bravo ◽  
Ubaldo Ruiz ◽  
Rafael Murrieta-Cid
Keyword(s):  
Differential Drive ◽  
Pursuit Evasion ◽  
Evasion Game

scholarly journals Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance

2014 ◽  
Vol 24 (2) ◽  
pp. 371-385 ◽  
Author(s):  
Ubaldo Ruiz ◽  
Jose Luis Marroquin ◽  
Rafael Murrieta-Cid
Keyword(s):  
Euclidean Plane ◽  
Nonholonomic Constraints ◽  
Motion Direction ◽  
Specific Strategy ◽  
Dynamic Constraints ◽  
Differential Drive ◽  
Pursuit Evasion ◽  
Variable Distance ◽  
Evasion Problem ◽  
Differential Drive Robot

Abstract In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the configuration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a specific strategy (also provided), the DDR can achieve any inter-agent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.

scholarly journals Fractional Calculus Guidance Algorithm in a Hypersonic Pursuit-Evasion Game

2017 ◽  
Vol 67 (6) ◽  
pp. 688 ◽  
Author(s):  
Jian Chen ◽  
Qilun Zhao ◽  
Zixuan Liang ◽  
Peng Li ◽  
Zhang Ren ◽  
...  
Keyword(s):  
Fractional Calculus ◽  
Guidance System ◽  
System Stability ◽  
Line Of Sight ◽  
Differential Signal ◽  
Pursuit Evasion ◽  
Guidance Law ◽  
Evasion Game ◽  
Nonlinear Tracking ◽  
Guidance Algorithm

<p class="p1">Aiming at intercepting a hypersonic weapon in a hypersonic pursuit-evasion game, this paper presents a fractional calculus guidance algorithm based on a nonlinear proportional and differential guidance law. First, under the premise of without increasing the complexity degree of the guidance system against a hypersonic manoeuvering target, the principle that the differential signal of the line-of-sight rate is more sensitive to the target manoeuver than the line-of-sight rate is employed as the guidelines to design the guidance law. A nonlinear proportional and differential guidance law (NPDG) is designed by using the differential derivative of the line-of-sight rate from a nonlinear tracking differentiator. By using the differential definition of fractional calculus, on the basis of the NPDG, a fractional calculus guidance law (FCG) is proposed. According to relative motions between the interceptor and target, the guidance system stability condition with the FCG is given and quantitative values are also proposed for the parameters of the FCG. Under different target manoeuver conditions and noisy conditions, the interception accuracy and robustness of these two guidance laws are analysed. Numerical experimental results demonstrate that the proposed guidance algorithms effectively reduce the miss distance against target manoeuvers. Compared with the NPDG, a stronger robustness of the FCG is shown under noisy condition.</p>

scholarly journals Predictive pursuit-evasion game control method for approaching space non-cooperative target

2020 ◽  
Vol 53 (2) ◽  
pp. 14882-14887
Author(s):  
Yuan Chai ◽  
Jianjun Luo ◽  
Mingming Wang ◽  
Min Yu
Keyword(s):  
Control Method ◽  
Pursuit Evasion ◽  
Evasion Game
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