Tracking an omnidirectional evader with a differential drive robot

نویسندگان

  • Rafael Murrieta-Cid
  • Ubaldo Ruiz
  • José L. Marroquín
  • Jean-Paul Laumond
  • Seth Hutchinson
چکیده

In this paper we consider the surveillance problem of tracking a moving evader by a nonholonomic mobile pursuer. We deal specifically with the situation in which the only constraint on the evader’s velocity is a bound on speed (i.e., the evader is able to move omnidirectionally), and the pursuer is a nonholonomic, differential drive system having bounded speed. We formulate our problem as a game. Given the evader’s maximum speed, we determine a lower bound for the required pursuer speed to track the evader. This bound allows us to determine at the beginning of the game whether or not the pursuer can follow the evader based on the initial system configuration. We then develop the system model, and obtain optimal motion strategies for both players, which allow us to establish the long term solution for the game. We present an implementation of the system model, and motion A preliminary version of portions of this work appeared in [24]. Rafael Murrieta-Cid, Ubaldo Ruiz, Jose Luis Marroquin Centro de Investigación en Matemáticas, CIMAT Guanajuato México E-mail: {murrieta,ubaldo,jlm}@cimat.mx Jean-Paul Laumond LAAS-CNRS University of Toulouse Toulouse, France E-mail: [email protected] Seth Hutchinson Electrical and Computer Engineering University of Illinois Urbana, Illinois E-mail: [email protected] strategies, and also present simulation results of the pursuit-evasion game.

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عنوان ژورنال:
  • Auton. Robots

دوره 31  شماره 

صفحات  -

تاریخ انتشار 2011