Cooperative Nonlinear Guidance Strategies for Guaranteed Pursuit-Evasion
Fuente:
arXiv
Guardado en:
| Autores principales: | , , |
|---|---|
| Formato: | Preprint |
| Publicado: |
2024
|
| Materias: | |
| Acceso en línea: | |
| Etiquetas: |
Agregar Etiqueta
Sin Etiquetas, Sea el primero en etiquetar este registro!
|
| _version_ | 1866912586655596544 |
|---|---|
| author | Kumar, Saurabh Kumar, Shashi Ranjan Sinha, Abhinav |
| author_facet | Kumar, Saurabh Kumar, Shashi Ranjan Sinha, Abhinav |
| contents | This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender before it reaches the vicinity of the evader. Unlike heuristic methods, optimal control, differential game formulation, and recently proposed time-constrained guidance techniques, a geometry-based solution is proposed to safeguard the evader from the pursuer's incoming threat. The proposed strategy is computationally efficient and expected to be scalable as the number of agents increases. Another notable feature of the proposed strategy is that the evader-defender team does not require knowledge of the pursuer's strategy, yet the pursuer's interception is guaranteed for arbitrary initial engagement geometries. It is further shown that the relevant error variables for the evader-defender team (or individual) converge to zero at a prespecified finite time that can be exactly prescribed prior to the three-body engagement. Finally, the effectiveness of the proposed cooperative pursuit-evasion strategy is demonstrated through simulations across diverse engagement scenarios. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_06176 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Cooperative Nonlinear Guidance Strategies for Guaranteed Pursuit-Evasion Kumar, Saurabh Kumar, Shashi Ranjan Sinha, Abhinav Systems and Control Multiagent Systems Robotics Dynamical Systems Optimization and Control This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender before it reaches the vicinity of the evader. Unlike heuristic methods, optimal control, differential game formulation, and recently proposed time-constrained guidance techniques, a geometry-based solution is proposed to safeguard the evader from the pursuer's incoming threat. The proposed strategy is computationally efficient and expected to be scalable as the number of agents increases. Another notable feature of the proposed strategy is that the evader-defender team does not require knowledge of the pursuer's strategy, yet the pursuer's interception is guaranteed for arbitrary initial engagement geometries. It is further shown that the relevant error variables for the evader-defender team (or individual) converge to zero at a prespecified finite time that can be exactly prescribed prior to the three-body engagement. Finally, the effectiveness of the proposed cooperative pursuit-evasion strategy is demonstrated through simulations across diverse engagement scenarios. |
| title | Cooperative Nonlinear Guidance Strategies for Guaranteed Pursuit-Evasion |
| topic | Systems and Control Multiagent Systems Robotics Dynamical Systems Optimization and Control |
| url | https://arxiv.org/abs/2402.06176 |