Evasion from a group of pursuers with a prescribed target set for the evader
Evasion from a group of pursuers with a prescribed target set for the evader
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为逃避者设定指定目标，躲避一群追捕者
DOI：
10.1109/acc.2016.7524908
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发表时间：
2016
期刊：
影响因子：
--
通讯作者：
E. Bakolas
中科院分区：
文献类型：
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作者：
Jhanani Selvakumar;E. Bakolas
我们考虑了分布在一个凸多边形上的多个独立代理追捕下的代理的规避策略的刻画问题。所提出的规避策略主要依赖于多边形的广义Voronoi划分，该划分的邻近度是最近的追踪者捕获逃逸的时间。具体地说，Voronoi小区的边界为逃避者确定了一组较佳的路径，该路径将安全地将其带到指定的目标集合。追踪者的运动通过顺序的重新划分和重新规划来解释。利用两人微分对策解的结构，提出了一种计算广义Voronoi分划的新方法。结果表明，所提出的方法比文献中已知的两种方法快至少一个数量级，从而加快了所提出的规避策略的计算速度。数值仿真结果表明了该规避策略的有效性。
We consider the problem of characterizing an evasion strategy for an agent under pursuit by multiple independent agents that are distributed in a convex polygon. The proposed evasion strategy is centrally dependent on a generalized Voronoi partition of the polygon, whose proximity metric is the time of capture of the evader by the nearest pursuer. Specifically, the boundaries of the Voronoi cells determine a set of preferable paths for the evader that will safely take it to a prescribed target set. The motion of the pursuers is accounted for by sequential re-partitioning and re-planning. A novel method for the computation of the generalized Voronoi partition, which exploits the structure of the solution to a two-player differential game, is presented. It is shown that the proposed method is significantly faster (by at least one order of magnitude) than two known methods in the literature; this expedites computation of the proposed evasion strategy. Numerical simulations that illustrate the effectiveness of the proposed evasion strategy are presented.