Evasion from a group of pursuers with double integrator kinematics
Evasion from a group of pursuers with double integrator kinematics
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使用双积分器运动学躲避一群追击者
DOI：
10.1109/cdc.2013.6760090
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发表时间：
2013
期刊：
影响因子：
--
通讯作者：
E. Bakolas
中科院分区：
文献类型：
--
作者：
E. Bakolas
我们考虑的问题的特征回避策略的代理穿越一个凸多边形填充的一组追求者。我们通过将其与广义Voronoi划分问题相关联来解决这个问题，该问题基于涉及逃避者和群体中每个追捕者的追捕-逃避游戏的值函数来编码有关逃避者和追捕者之间邻近关系的信息。广义Voronoi划分包含了一组连续路径，这些路径具有如下性质：当逃避者沿着其中任何一条路径沿着行进时，没有一个追赶者会有单边的动机去发起对它的追赶.利用所提出的方法，逃避问题得到了一个优雅的几何解，该解可以通过已知的计算技术来计算.数值模拟，说明理论的发展。
We consider the problem of characterizing an evading strategy for an agent traversing a convex polygon populated by a group of pursuers. We address the problem by associating it with a generalized Voronoi partitioning problem, which encodes information about the proximity relations between the evader and the pursuers based on the value function of a pursuit-evasion game involving the evader and each pursuer from the group individually. The generalized Voronoi partition furnishes a collection of continuous paths which have the following property: When the evader travels along any of these paths, none of the pursuers will have a unilateral incentive to initiate the pursuit against it. With the proposed approach, the problem of evasion from the group of pursuers admits an elegant geometric solution, which can be computed by means of known computational techniques. Numerical simulations that illustrate the theoretical developments are presented.