Anticipated Velocity Based Guidance Strategy for Wheeled Mobile Evaders Amidst Moving Obstacles in Bounded Environment

This paper is concerned with a class of pursuit-evasion game problems (PEGs) amidst moving obstacles in a bounded environment. We concentrate on the evader's strategy, taking into account the following challenges (i) Pursuer and evader are non-holonomic wheeled mobile robots and the evader is slower than the pursuer (ii) Pursuer follows proportional navigation (PN) law (iii) Geometry of the environment is not known to the players, apriori. We propose an efficient evader-centric anticipated velocity based guidance strategy for a single evader and a single pursuer. Pursuer's trajectory is anticipated at each step by the evader using quadratic polynomial interpolation. Aim of the evader is to escape interception with the pursuer for maximum possible time. A recently introduced reciprocal orientation method is employed to avoid collision with other moving vehicles in the environment. Efficiency of the proposed strategy is analyzed with respect to the interception time and the distance travelled by the two players.