Coordinated control for capturing a highly maneuverable evader using forward reachable sets

This paper proposes a control strategy based on forward reachable sets (FRSs) analysis for multiple pursuers to capture an evader with a higher maneuverability than the pursuers. The strategy first finds the pursuers' capture states at which their FRSs cover the evader's entire FRS so as t...

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Bibliographic Details
Published inProceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006 pp. 1336 - 1341
Main Authors Chung, C.F., Furukawa, T., Goktogan, A.H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 2006
Subjects
Australia
Control systems
Dynamic programming
Feedforward systems
Motion control
Pulp manufacturing
Robot kinematics
Sampling methods
State-space methods
Target tracking
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Summary:This paper proposes a control strategy based on forward reachable sets (FRSs) analysis for multiple pursuers to capture an evader with a higher maneuverability than the pursuers. The strategy first finds the pursuers' capture states at which their FRSs cover the evader's entire FRS so as to improve the possibility of capture. The pursuers approach these capture states from their initial states in feed-forward control at a low sampling rate. Upon reaching the capture states, the pursuers approach and capture the evader in a feedback manner. The proposed strategy was applied to two pursuit-evasion scenarios and compared to the generic motion tracking algorithm. Results show the efficacy of the proposed strategy and its superiority to the motion tracking algorithm
ISBN:0780395050
9780780395053
ISSN:1050-4729
2577-087X
DOI:10.1109/ROBOT.2006.1641894