Cooperative pursuit with multi-pursuer and one faster free-moving evader
This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely w...
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| 格式: | Journal Article |
| 语言: | English |
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2021
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| 在线阅读: | https://hdl.handle.net/10356/153705 |
| _version_ | 1826119804560343040 |
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| author | Fang, Xu Wang, Chen Xie, Lihua Chen, Jie |
| author2 | School of Electrical and Electronic Engineering |
| author_facet | School of Electrical and Electronic Engineering Fang, Xu Wang, Chen Xie, Lihua Chen, Jie |
| author_sort | Fang, Xu |
| collection | NTU |
| description | This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method. |
| first_indexed | 2024-10-01T05:06:06Z |
| format | Journal Article |
| id | ntu-10356/153705 |
| institution | Nanyang Technological University |
| language | English |
| last_indexed | 2024-10-01T05:06:06Z |
| publishDate | 2021 |
| record_format | dspace |
| spelling | ntu-10356/1537052021-12-08T11:55:10Z Cooperative pursuit with multi-pursuer and one faster free-moving evader Fang, Xu Wang, Chen Xie, Lihua Chen, Jie School of Electrical and Electronic Engineering Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Pursuit-Evasion Game Cooperative Pursuit This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method. National Research Foundation (NRF) Accepted version This work was supported in part by the ST EngineeringNTU Corporate Laboratory through the NRF Corporate Lab@University Scheme and in part by the National Natural Science Foundation of China under Grant 61720106011. 2021-12-08T11:55:09Z 2021-12-08T11:55:09Z 2020 Journal Article Fang, X., Wang, C., Xie, L. & Chen, J. (2020). Cooperative pursuit with multi-pursuer and one faster free-moving evader. IEEE Transactions On Cybernetics. https://dx.doi.org/10.1109/TCYB.2019.2958548 2168-2267 https://hdl.handle.net/10356/153705 10.1109/TCYB.2019.2958548 en 61720106011 IEEE Transactions on Cybernetics © 2020 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works. The published version is available at: https://doi.org/10.1109/TCYB.2019.2958548. application/pdf |
| spellingShingle | Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Pursuit-Evasion Game Cooperative Pursuit Fang, Xu Wang, Chen Xie, Lihua Chen, Jie Cooperative pursuit with multi-pursuer and one faster free-moving evader |
| title | Cooperative pursuit with multi-pursuer and one faster free-moving evader |
| title_full | Cooperative pursuit with multi-pursuer and one faster free-moving evader |
| title_fullStr | Cooperative pursuit with multi-pursuer and one faster free-moving evader |
| title_full_unstemmed | Cooperative pursuit with multi-pursuer and one faster free-moving evader |
| title_short | Cooperative pursuit with multi-pursuer and one faster free-moving evader |
| title_sort | cooperative pursuit with multi pursuer and one faster free moving evader |
| topic | Engineering::Electrical and electronic engineering::Control and instrumentation::Control engineering Pursuit-Evasion Game Cooperative Pursuit |
| url | https://hdl.handle.net/10356/153705 |
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