Abstract:
In this paper, we address a class of visibility-based pursuit-evasion game in which a mobile observer tries to maintain a line-of-sight (LOS) with a mobile target in an e...Show MoreMetadata
Abstract:
In this paper, we address a class of visibility-based pursuit-evasion game in which a mobile observer tries to maintain a line-of-sight (LOS) with a mobile target in an environment containing obstacles. The observer knows the current position of the target as long as the target is in the observer's LOS. At first, we address this problem in an environment containing a single corner. We formulate the game as an optimal control problem of maximizing the time for which the observer can keep the reachability set of the target in its field-of-view. Using Pontryagin's principle, we show that the primitives for optimal motion of the observer are straight lines (ST ) and spiral-like curves (C). Next, we present the synthesis of the optimal trajectories from any given initial position of the observer. We show that the optimal path of the observer belongs to the class {ST, C - ST, ST - C - ST }. Given any initial position of the target, we present a partition of the workspace around a corner based on the optimal control policy of the observer.
Published in: IEEE Transactions on Robotics ( Volume: 35, Issue: 2, April 2019)