Pursuit evasion games using collision cones

Loading...
Thumbnail Image
Authors
Sunkara, Vishwamithra
Chakravarthy, Animesh
Ghose, Debasish
Advisors
Issue Date
2018-01-07
Type
Conference paper
Keywords
Heading angle , Guidance laws , Robots , Closed loop , Nonlinear dynamic inversion , Probability distribution , Optimal control theory , Network security , Motion planning , Robotics
Research Projects
Organizational Units
Journal Issue
Citation
Sunkara, V., Chakravarthy, A., & Ghose, D. (2018). Pursuit evasion games using collision cones. Paper presented at the AIAA Guidance, Navigation, and Control Conference, 2018, (210039) doi:10.2514/6.2018-2108 Retrieved from www.scopus.com
Abstract

This paper presents a preliminary study into the use of collision cones in analyzing pursuit evasion games between two objects of arbitrary shapes. A two-player pursuit evasion game is considered, wherein a single pursuer tries to capture a single evader who, in turn, tries to avoid capture. The collision cone is defined as the set of instantaneous velocities that cause one player to lie on a collision course with the other. The evader applies an acceleration to drive the relative velocity vector out of the collision cone, while the pursuer applies an acceleration to drive the relative velocity vector into the collision cone. Two different matrix games are considered, and saddle points (defined by the scenarios wherein the relative velocity vector is aligned with the boundary of the collision cone at the instant of closest approach) are determined.

Table of Contents
Description
Click on the DOI to access this article (may not be free).
Publisher
American Institute of Aeronautics and Astronautics, Inc.
Journal
Book Title
Series
AIAA Guidance, Navigation, and Control Conference
2018
PubMed ID
DOI
ISSN
EISSN