A Boolean Control Network Approach to Pursuit Evasion Problems in Polygonal Environments
In this paper, the multi pursuer version of the pursuit evasion problem in polygonal environments is addressed. This problem is NP-hard, and therefore we seek good enough, but not optimal solutions. By modeling the problem as a Boolean Control Network, we can efficiently keep track of which regions are cleared, and which are not, while the input nodes of the network are used to represent the motion of the pursuers. The environment is partitioned into a set of convex regions, where each region correspond to a set of nodes in the network. The method is implemented in ANSI C, and efficiently solves complex environments containing multiple loops and requiring so-called recontamination. The provided examples demonstrate the effectiveness of the method in terms of computational time.
Johan Thunberg Petter (O)gren Xiaoming Hu
Division of Optimization and Systems Theory,Department of Mathemathics,Royal Institute of Technology Department of Aeronautical and Systems Technology,Swedish Defence Research Agency (FOI),Stockholm,Sw
国际会议
2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)
上海
英文
4506-4511
2011-05-09（万方平台首次上网日期，不代表论文的发表时间）