Evasion of multiple, intelligent pursuers in a stationary, cluttered environment: A harmonic potential field approach

Ahmad A. Masoud*

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

7 Scopus citations

Abstract

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 up on 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.

Original languageEnglish
Pages654-659
Number of pages6
StatePublished - 2002

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modeling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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