Title :
A novel pursuit strategy for fast evader in indoor pursuit-evasion games
Author :
Fan, Xinyi ; Zhu, Shanying ; Du, Rong ; Chen, Cailian ; Guan, Xinping
Author_Institution :
Dept. of Autom., Shanghai Jiao Tong Univ., Shanghai, China
Abstract :
This paper is concerned with the pursuit problem of indoor pursuit-evasion games (PEGs) with multiple pursuers and one fast evader. The system is implemented in multiple mobile robots with the ability of wireless communication. A model of the pursuit problem of fast evader in indoor PEGs is presented to consider the case that the exact position of evader is unavailable to the pursuers. To solve this PEG, we introduce the concept of dirty set to represent all possible locations of the evader. Based on an intuitively defined cost function, we then propose the ISCD algorithm to guarantee the shrink of the dirty set until the evader is successfully captured. Experiment results show that ISCD algorithm has guaranteed convergence property and the capture occurs even with a small number of pursuers after a few steps.
Keywords :
indoor communication; mobile robots; multi-robot systems; ISCD algorithm; indoor PEG; indoor pursuit evasion games; multiple mobile robots; pursuit strategy; wireless communication; Cost function; Games; Indoor environments; Monitoring; Partitioning algorithms; Robots; Vectors; Indoor pursuit-evasion game; cost function; dirty set; fast evader;
Conference_Titel :
Intelligent Control and Automation (WCICA), 2012 10th World Congress on
Conference_Location :
Beijing
Print_ISBN :
978-1-4673-1397-1
DOI :
10.1109/WCICA.2012.6359112