Capturing an Evader Using Multiple Pursuers with Sensing Limitations in Convex Environment

  • Amit Kumar Computer Science and Engineering, Indian Institute of Information Technology, Kota - 302 017
Keywords: Pursuit-evasion games, Path planning, Multi-robot systems

Abstract

A modified continuous-time pursuit-evasion game with multiple pursuers and a single evader is studied. The game has been played in an obstacle-free convex environment which consists an exit gate through which the evader may escape. The geometry of the convex is unknown to all players except pursuers know the location of the exit gate and they can communicate with each other. All players have equal maximum velocities and identical sensing range. An evader is navigating inside the environment and seeking the exit gate to win the game. A novel sweep-pursuit-capture strategy for the pursuers to search and capture the evader under some necessary and sufficient conditions is presented. We also show that three pursuers are sufficient to finish the operation successfully. Non-holonomic wheeled mobile robots of the same configurations have been used as the pursuers and the evader. Simulation studies demonstrate the performance of the proposed strategy in terms of interception time and the distance traveled by the players.

 

Author Biography

Amit Kumar, Computer Science and Engineering, Indian Institute of Information Technology, Kota - 302 017

Dr Amit Kumar received his BE in (Computer Science and Engineering) from The Institution of Electronics and Telecommunication Engineers, New Delhi, India in 2008. He received his MTech and PhD in Computer Science and Engineering from PDPM Indian Institute of Information Technology Design and Manufacturing Jabalpur, India in 2010 and 2016 respectively. Presently, he is working in Indian Institute of Information Technology, Kota, India as an Assistant Professor in Computer Science and Engineering department. His research interests include robot motion planning, deep learning, multi-robot systems.

 

Published
2018-09-12
How to Cite
Kumar, A. (2018). Capturing an Evader Using Multiple Pursuers with Sensing Limitations in Convex Environment. Defence Science Journal, 68(5), 451-459. https://doi.org/10.14429/dsj.68.11896
Section
Combat Engineering