Pursuit-evasion games in dynamic flow fields via reachability set analysis
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Author(s)
Sun, Wei
Tsiotras, Panagiotis
Lolla, Tapovan
Narayanan Subramani, Deepak
Lermusiaux, Pierre
Date Issued
May 2017
Journal
2017 American Control Conference (ACC)
Publisher
Institute of Electrical and Electronics Engineers (IEEE)
Citation
Sun, Wei, Panagiotis Tsiotras, Tapovan Lolla, Deepak N. Subramani, and Pierre F. J. Lermusiaux. “Pursuit-Evasion Games in Dynamic Flow Fields via Reachability Set Analysis.” 2017 American Control Conference (ACC), 24-26 May 2017, Seattle, Washington, IEEE, 2017. © 2017 American Automatic Control Council (AACC)
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Author's final manuscript
Abstract
In this paper, we adopt a reachability-based approach to deal with the pursuit-evasion differential game between two players in the presence of dynamic environmental disturbances (e.g., winds, sea currents). We give conditions for the game to be terminated in terms of reachable set inclusions. Level set equations are defined and solved to generate the reachable sets of the pursuer and the evader. The corresponding time-optimal trajectories and optimal strategies can be readily retrieved afterwards. We validate our method by applying it to a pursuit-evasion game in a simple flow field, for which an analytical solution is available. We then implement the proposed scheme to a problem with a more realistic flow field.
MIT Department
Massachusetts Institute of Technology. Department of Mechanical Engineering
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DOI of Published Version
https://doi.org/10.23919/ACC.2017.7963664
