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Evasion of multiple, intelligent pursuers in a stationary, cluttered environment: a harmonic potential field approach

Masoud, A.A. (2002) Evasion of multiple, intelligent pursuers in a stationary, cluttered environment: a harmonic potential field approach. Intelligent Control, 2002. Proceedings of the 2002 IEEE International Symposium on, 1.

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Abstract

In this paper an intelligent controller is suggested for the evasive navigation of an agent that is engaging multiple pursuers in a stationary environment. The controller is required to generate a sequence of directions to guide the motion of an evader so that it will be able to 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 upon reaching it can discontinue engaging the pursuers. The controller is constructed using an extension of the harmonic potential field approach to behavior synthesis. A preliminary demonstration of the controller's capabilities is provided using simulation.



Item Type:Article
Date:2002
Date Type:Publication
Subjects:Computer
Divisions:College Of Engineering Sciences > Electrical Engineering Dept
Creators:Masoud, A.A.
ID Code:14628
Deposited By:KFUPM ePrints Admin
Deposited On:24 Jun 2008 16:43
Last Modified:12 Apr 2011 13:16

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