A two-phase evasive strategy for a pursuit-evasion problem involving two non-holonomic agents with incomplete information

Nath, S and Ghose, D (2022) A two-phase evasive strategy for a pursuit-evasion problem involving two non-holonomic agents with incomplete information. In: European Journal of Control .

PDF eur_jou_con_2022.pdf - Published Version Restricted to Registered users only Download (1MB) | Request a copy

Abstract

In this paper, we consider the problem of pursuit-evasion between two non-holonomic agents. To make the problem more realistic, we assume that the pursuer and evader have incomplete information regarding each other's motion. We propose a novel, two-phase, evasive strategy against a higher speed pursuer, based on worst-case scenario planning and proximity-based maneuver. In the first phase, the evader assumes the pursuer to have zero turn radius and executes a best-response strategy, which is analytically shown to be movement along a tangent to the turn circle of the evader. In the second phase, when the pursuer gets close to the evader, the latter switches to movement along high-curvature paths to side-step the former. The effectiveness of the two phases is shown through simulations.

Item Type:	Journal Article
Publication:	European Journal of Control
Publisher:	Elsevier Ltd
Additional Information:	The copyright for this article belongs to the Elsevier Ltd.
Keywords:	Differential games; Evasion; Evasive strategy; Holonomic agents; Incomplete information; Nonholonomics; Proportional navigation; Pursuit; Pursuit evasion problem; Two phase
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	21 Jul 2022 05:24
Last Modified:	21 Jul 2022 05:24
URI:	https://eprints.iisc.ac.in/id/eprint/74968

Actions (login required)

View Item