In this paper, a reachability-based approach is adopted to deal with the pursuit–evasion differential game between one evader and multiple pursuers in the presence of dynamic environmental disturbances (for example, winds or sea currents). Conditions for the game to be terminated are given in terms of reachable set inclusions. Level set equations are defined and solved to generate the forward reachable sets of the pursuers and the evader. The time-optimal trajectories and the corresponding optimal strategies are subsequently retrieved from these level sets. The pursuers are divided into active pursuers, guards, and redundant pursuers according to their respective roles in the pursuit–evasion game. The proposed scheme is implemented on problems with both simple and realistic time-dependent flowfields, with and without obstacles.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    Multiple-Pursuer/One-Evader Pursuit–Evasion Game in Dynamic Flowfields



    Published in:

    Publication date :

    2017-04-10


    Size :

    11 pages




    Type of media :

    Article (Journal)


    Type of material :

    Electronic Resource


    Language :

    English