Tracking an omnidirectional evader with a differential drive robot

Authors:
Rafael Murrieta-Cid;Ubaldo Ruiz;Jose Luis Marroquin;Jean-Paul Laumond;Seth Hutchinson
Affiliations:
Centro de Investigación en Matemáticas, CIMAT, Guanajuato, México;Centro de Investigación en Matemáticas, CIMAT, Guanajuato, México;Centro de Investigación en Matemáticas, CIMAT, Guanajuato, México;LAAS-CNRS, University of Toulouse, Toulouse, France;Electrical and Computer Engineering, University of Illinois, Urbana, USA
Venue:
Autonomous Robots
Year:
2011

Citing 12
Cited 0

Searching for a mobile intruder in a polygonal region

SIAM Journal on Computing
Robot Motion Planning and Control

Robot Motion Planning and Control
Robot Motion Planning

Robot Motion Planning
Distributed Algorithms for Multi-Robot Observation of Multiple Moving Targets

Autonomous Robots
Tracking Targets Using Multiple Robots: The Effect of Environment Occlusion

Autonomous Robots
An Intelligent Observer

The 4th International Symposium on Experimental Robotics IV
Visibility-Based Pursuit-Evasion in a Polygonal Environment

WADS '97 Proceedings of the 5th International Workshop on Algorithms and Data Structures
A Sampling-Based Motion Planning Approach to Maintain Visibility of Unpredictable Targets

Autonomous Robots
Surveillance Strategies for a Pursuer with Finite Sensor Range

International Journal of Robotics Research
Efficient Multi-robot Search for a Moving Target

International Journal of Robotics Research
On the Existence of Nash Equilibrium for a Two-player Pursuit-Evasion Game with Visibility Constraints

International Journal of Robotics Research
Randomized pursuit-evasion in a polygonal environment

IEEE Transactions on Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

In this paper we consider the surveillance problem of tracking a moving evader by a nonholonomic mobile pursuer. We deal specifically with the situation in which the only constraint on the evader's velocity is a bound on speed (i.e., the evader is able to move omnidirectionally), and the pursuer is a nonholonomic, differential drive system having bounded speed.We formulate our problem as a game. Given the evader's maximum speed, we determine a lower bound for the required pursuer speed to track the evader. This bound allows us to determine at the beginning of the game whether or not the pursuer can follow the evader based on the initial system configuration. We then develop the system model, and obtain optimal motion strategies for both players, which allow us to establish the long term solution for the game. We present an implementation of the system model, and motion strategies, and also present simulation results of the pursuit-evasion game.