Evasion of multiple, intelligent pursuers in a stationary, cluttered environment: a harmonic potential field approach
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 pu...
محفوظ في:
| المؤلف الرئيسي: | |
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| مؤلفون آخرون: | |
| التنسيق: | article |
| منشور في: |
2002
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| الموضوعات: | |
| الوصول للمادة أونلاين: | https://eprints.kfupm.edu.sa/id/eprint/14628/1/14628_1.pdf https://eprints.kfupm.edu.sa/id/eprint/14628/2/14628_2.doc |
| الوسوم: |
إضافة وسم
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| الملخص: | 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. |
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