Abstract
We study the problem of capturing an omnidirectional evader in convex environments using a differential drive robot (DDR). The DDR wins the game if at any time instant it captures (collides with) the evader. The evader wins if it can avoid capture forever. Both players are unit disks with the same maximum (bounded) speed, but the DDR can only change its motion direction at a bounded rate. We show that despite this limitation, the DDR can capture the evader.
| Original language | English (US) |
|---|---|
| Article number | 7409946 |
| Pages (from-to) | 1007-1013 |
| Number of pages | 7 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 1 |
| Issue number | 2 |
| DOIs | |
| State | Published - Jul 2016 |
Bibliographical note
Publisher Copyright:© 2016 IEEE.
Keywords
- Motion and Path Planning
- Nonholonomic Motion Planning
- Surveillance Systems