Capturing an Omnidirectional Evader in Convex Environments Using a Differential Drive Robot

Ubaldo Ruiz, Volkan Isler

Research output: Contribution to journalArticlepeer-review

4 Scopus citations

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 languageEnglish (US)
Article number7409946
Pages (from-to)1007-1013
Number of pages7
JournalIEEE Robotics and Automation Letters
Volume1
Issue number2
DOIs
StatePublished - Jul 2016

Keywords

  • Motion and Path Planning
  • Nonholonomic Motion Planning
  • Surveillance Systems

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