Authors:
Alexander Alexopoulos
;
Tobias Schmidt
and
Essameddin Badreddin
Affiliation:
Heidelberg University, Germany
Keyword(s):
Pursuit-evasion Games, Dynamic Non-cooperative Games, Unmanned Aerial Vehicles, Quad-rotors, Real-time Applications
Related
Ontology
Subjects/Areas/Topics:
Autonomous Agents
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Mobile Robots and Autonomous Systems
;
Optimization Algorithms
;
Robotics and Automation
Abstract:
In this paper the problem of two-player pursuit-evasion games with unmanned aerial vehicles (UAVs) in a
three-dimensional environment is solved. A game theoretic framework is presented, which enables the solution
of dynamic games in discrete time based on dynamic programming. The UAV agents taking part in the pursuit-evasion
game are two identical quad-rotors with the same non-linear state space model, while the evaders’
absolute velocity is smaller than the pursuers’. The convergence of the pursuit-evasion game is shown in
numerical simulations. Finally, the approach is simulated on an embedded computer and tested for real-time
applicability. Hence, the implementation and real-time execution on a physical UAV system is feasible.