Evasion from multiple pursuers via semantic control theory

Adaptive vehicle navigation is the process of finding a course through which to steer a vehicle from a given starting location to the destination while avoiding an unknown number of stationary or moving obstacles. In general, the region traversed will contain both natural and man-made obstacles, usually resulting in a segmented path. Each segment represents the vehicle's response to a known, or even unexpected, obstacle. The natureltype of the obstacle will determine the approach used to avoidlevade it. The algorithms are part of our ongoing work to develop a tactical decision aid (TDA) which the pilot/driver of a military vehicle can employ, so as to avoid one or more weapon-quipped mobile enemy platforms in a pursuit-evasion setting. In this paper, we focus on control and navigation algorithms developed for the evader. Previously, we have reported software/hardware, decision theory, situation/threat assessment and other relevant details. These algorithms serve as components of an adaptive navigation system being developed based on the semantic control system paradigm. Three global navigation schemes and seven local navigation schemes are presented. We also present the use of a strategy table as a tool to guide the development of vehicle navigation schemes.