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Evasion of multiple, intelligent pursuers in a stationary, cluttered environment using a Poisson potential field

Masoud, A.A. (2003) Evasion of multiple, intelligent pursuers in a stationary, cluttered environment using a Poisson potential field. Robotics and Automation, 2003. Proceedings. ICRA '03. IEEE International conference, 3.

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Abstract

In this paper a new potential field approach is suggested for the evasive navigation of an agent that is engaging multiple pursuers in a stationary environment. Here, the gradient of a potential field that is generated by solving the Poisson equation subject to a set of mixed boundary conditions is used to generate a sequence of directions to guide the motion of an evader so that it will escape a group of pursuers while avoiding a set of forbidden regions (clutter). The focus here is on continuous evasion where the agent does not have the benefit of a target zone (e.g., a shelter) which up on reaching it can discontinue engaging the pursuers. The capabilities of the approach are demonstrated using simulation experiments.



Item Type:Article
Date:September 2003
Date Type:Publication
Subjects:Computer
Divisions:College Of Engineering Sciences > Electrical Engineering Dept
Creators:Masoud, A.A.
ID Code:14243
Deposited By:KFUPM ePrints Admin
Deposited On:24 Jun 2008 16:28
Last Modified:12 Apr 2011 13:14

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