Sun, W., P. Tsiotras, T. Lolla, D. N. Subramani, and P. F. J. Lermusiaux, 2017. Pursuit-Evasion Games in Dynamic Flow Fields via Reachability Set Analysis. 2017 American Control Conference. In press.
In this paper, we adopt a reachability-based
approach to deal with the pursuit-evasion differential game
between two players in the presence of dynamic environmental
disturbances (e.g., winds, sea currents). We give conditions for
the game to be terminated in terms of reachable set inclusions.
Level set equations are defined and solved to generate the
reachable sets of the pursuer and the evader. The corresponding
time-optimal trajectories and optimal strategies can be retrieved
immediately afterwards. We validate our method by applying
it to a pursuit-evasion game in a simple flow field, for which an
analytical solution is available.We then implement the proposed
scheme to a problem with a more realistic flow field.