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An optimization approach to the multi-player pursuit-evasion problem
KTH, School of Engineering Sciences (SCI).
2017 (English)Independent thesis Basic level (degree of Bachelor), 10 credits / 15 HE creditsStudent thesis
Abstract [en]

In this paper a scenario of one evader being chased by multiple pursuers in two specific simulation environments is studied. The simulation environments are divided into an open area without obstacles and a closed area with obstacles. In the open area a fairly accurate system of dynamics are implemented for both pursuers and evader. The Virtual Vehicle Approach is used to provide a reference trajectory for the pursuers to follow in order to catch the evader. The main purpose of this thesis is to find a decentralized robust control method for the dynamics of the pursuers. In the closed area, the line of sight and field of view are introduced and the solution to the Minimum time UGV surveillance problem and the Centroidal Voronoi partitions. Different capturing strategies, encirclement and one-on-one chase, are both studied and compared. The numerical implementation and the resulting simulation are presented and analyzed. Conclusion on the optimal formation for the multiple pursuers is made.

Place, publisher, year, edition, pages
2017. , 48 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:kth:diva-210825OAI: oai:DiVA.org:kth-210825DiVA: diva2:1120349
Supervisors
Examiners
Available from: 2017-07-06 Created: 2017-07-06 Last updated: 2017-07-06Bibliographically approved

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CiteExportLink to record
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Citation style
  • apa
  • ieee
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  • vancouver
  • Other style
More styles
Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
  • Other locale
More languages
Output format
  • html
  • text
  • asciidoc
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