In this paper the problem of two-player pursuit-evasion games with unmanned aerial vehicles (UAVs) in a three-dimensional environment is solved. A game theoretic framework is presented, which enables the solution of dynamic games in discrete time based on dynamic programming. The UAV agents taking part in the pursuit-evasion game are two identical quad-rotors with the same non-linear state space model, while the evaders' absolute velocity is smaller than the pursuers'. The convergence of the pursuit-evasion game is shown in numerical simulations. Finally, the approach is simulated on an embedded computer and tested for real-time applicability. Hence, the implementation and real-time execution on a physical UAV system is feasible.


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    Titel :

    A pursuit-evasion game between unmanned aerial vehicles


    Beteiligte:


    Erscheinungsdatum :

    01.09.2014


    Format / Umfang :

    279214 byte



    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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