On the construction of barrier in a visibility based pursuit evasion game

Sourabh Bhattacharya, M Tamer Basar, Naira Hovakimyan

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This work addresses a vision-based tracking problem between a mobile observer and a target in the presence of a circular obstacle. The task of keeping the target in the observer's field-of-view is modeled as a pursuit-evasion game by assuming that the target is adversarial in nature. The objective of the observer is to maintain a line-of-sight with the target at all times. The objective of the target is to break the line-of-sight in finite amount of time. Initially, the control of the players on the barrier is computed from a slight modification of the definition of the escape set and the capture set [10]. The barrier is constructed from the boundary of the usable part of the terminal manifold using the retrogressive equation for the normals to it. For a fixed initial position of the observer, a partition of the plane into escape and capture regions for the target is obtained from the construction of the barrier. This technique is extended to provide an approximation for the escape and capture set for a polygonal obstacle. Finally, numerical construction of iso-value surfaces is presented from the optimal strategies for the players in the escape set based on our earlier work in [5].

Original languageEnglish (US)
Title of host publication2014 European Control Conference, ECC 2014
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages1894-1901
Number of pages8
ISBN (Electronic)9783952426913
DOIs
StatePublished - Jul 22 2014
Event13th European Control Conference, ECC 2014 - Strasbourg, France
Duration: Jun 24 2014Jun 27 2014

Publication series

Name2014 European Control Conference, ECC 2014

Other

Other13th European Control Conference, ECC 2014
CountryFrance
CityStrasbourg
Period6/24/146/27/14

ASJC Scopus subject areas

  • Control and Systems Engineering

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  • Cite this

    Bhattacharya, S., Basar, M. T., & Hovakimyan, N. (2014). On the construction of barrier in a visibility based pursuit evasion game. In 2014 European Control Conference, ECC 2014 (pp. 1894-1901). [6862391] (2014 European Control Conference, ECC 2014). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ECC.2014.6862391