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

(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
Subjects: Computer
Department: College of Engineering and Physics > Electrical Engineering
Depositing User: Mr. Admin Admin
Date Deposited: 24 Jun 2008 13:28
Last Modified: 01 Nov 2019 14:04
URI: https://eprints.kfupm.edu.sa/id/eprint/14243