A time-optimal control strategy for pursuit-evasion games

Publisher:
IEEE
Publication Type:
Conference Proceeding
Citation:
Proceedings of IEEE International Conference on Robotics and Automation, 2004, pp. 3962 - 3967
Issue Date:
2004-01
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This paper presents a control strategy for the pursuer in the pursuit-evasion game problem when the evader behaves intelligently. The pursuer in the proposed technique does not try to react to the evader's behavior instantaneously. The proposed technique therefore does not yield instantaneous optimality but capture the evader in a time-efficient and robust fashion even when the evader is intelligent. The proposed technique was applied to two numerical examples and the results were compared to those by the conventional motion tracking algorithms. The results and comparison show that the proposed technique could capture the evader faster than the conventional motion tracking algorithms in both the examples.
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