Capturing a Differential Drive Robot With a Dubins Car
In [5], we studied the problem of capturing a Dubins Car (DC) with a Differential Drive Robot (DDR) in minimum time. In the current paper, we address the problem in which the players’ roles are reversed, that is, the Dubins Car wants to capture the Differential Drive Robot. Similarly to [...
| Main Author: | |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
Institute of Electrical and Electronics Engineers Inc.
2023
|
| Subjects: | |
| Online Access: | View Fulltext in Publisher View in Scopus |
| Summary: | In [5], we studied the problem of capturing a Dubins Car (DC) with a Differential Drive Robot (DDR) in minimum time. In the current paper, we address the problem in which the players’ roles are reversed, that is, the Dubins Car wants to capture the Differential Drive Robot. Similarly to [5], we model the problem as a zero-sum differential game, and using differential game theory, we compute the time-optimal motion strategies of the players near the end of the game. Unlike [5], in the current game, we unveil the existence of three singular surfaces: an Evader’s Dispersal Surface (EDS), a Transition Surface (TS), where the DDR switches its controls, and a Pursuer’s Universal Surface (PUS). In each singular surface, a particular set of motion strategies for the players is used. To compute our solution, we assume that both players have the same maximum speed and a bounded turning ratio. Considering the previous setting, the game’s outcome only depends on the particular motion capabilities of the players. From the results in [5] and those presented in the current paper, it can be established that a DDR has an advantage when it plays either of the two roles compared to a Dubins Car performing the same role. Author |
|---|---|
| Physical Description: | 1 |
| ISBN: | 21693536 (ISSN) |
| DOI: | 10.1109/ACCESS.2023.3271592 |