<abstract xmlns="http://www.w3.org/1999/xhtml"><p>In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the conﬁguration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a speciﬁc strategy (also provided), the DDR can achieve any inter-agent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.</p></abstract>

In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot (DDR), in an Euclidean plane without obstacles. We assume that both players have bounded speeds, and that the DDR is faster than the evader, but due to its nonholonomic constraints it cannot change its motion direction instantaneously. Only a purely kinematic problem is considered, and any effect due to dynamic constraints (e.g., acceleration bounds) is neglected. We provide a criterion for partitioning the conﬁguration space of the problem into two regions, so that in one of them the DDR is able to control the system, in the sense that, by applying a speciﬁc strategy (also provided), the DDR can achieve any inter-agent distance (within an error bound), regardless of the actions taken by the OA. Particular applications of these results include the capture of the OA by the DDR and maintaining surveillance of the OA at a bounded variable distance.

Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance

Center for Mathematical Research (CIMAT) Jalisco S/N, Valenciana, Guanajuato, C.P. 36240, Mexico

International Journal of Applied Mathematics and Computer Science

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

In this paper, we address the pursuit-evasion problem of tracking an Omnidirectional Agent (OA) at a bounded variable distance using a Differential Drive Robot...

Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance

Published Online: Jun 26, 2014

Page range: 371 - 385

Received: Apr 25, 2013

Accepted: Jan 18, 2014

DOI: https://doi.org/10.2478/amcs-2014-0028

Keywords
pursuit-evasion, tracking, capturing, differential drive robot

© 2014 Ubaldo Ruiz et al.

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Tracking an omnidirectional evader with a differential drive robot at a bounded variable distance

Published Online: Jun 26, 2014

Page range: 371 - 385

Received: Apr 25, 2013

Accepted: Jan 18, 2014

DOI: https://doi.org/10.2478/amcs-2014-0028

Keywordspursuit-evasion, tracking, capturing, differential drive robot

© 2014 Ubaldo Ruiz et al.

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 3.0 License.

Keywords
pursuit-evasion, tracking, capturing, differential drive robot