Optimal Evading Strategies for Two-Pursuer/One-Evader Problems

摘要

Pursuit-evasion problems involving two pursuers and one evader are presented and analyzed. Two distinct scenarios differing in the type of information that the pursuers have about the evader's strategy are analyzed. The first scenario involves pursuers that have access to the evader's position and velocity at each instant of time, and consequently they follow a constant-bearing strategy. In the second scenario, it is assumed that the pursuers have only information about the evader's instantaneous position, and they follow a pure-pursuit strategy. In both these scenarios, the evader has information about the pursuers' location at every instant of time, and in addition, it also knows their pursuit strategy. The evading strategies maximizing capture time in both scenarios are studied under an optimal control framework. The two scenarios are further analyzed assuming that there is only one active pursuer. Such a case arises when the two pursuers follow a relay pursuit strategy.