Study of Performance of Bio Inspired Strategies Applied to Pursuit Evasion Game under Feedback Laws

Abstract

Pursuit evasion game (PEG) is found commonly in nature. PEG is between a newlinepursuer and an evader and it can be multi-player or single player. Study of PEG has newlineimplications for both civilian and military applications. Different pursuer and newlineevader strategies have been found in nature. The dynamics of pursuer and evader newlinemotion can be described by differential equations defined on a curve which is newlineformally considered as a manifold in an Euclidean plane. Different bio-inspired newlinestrategies give rise to different manifolds to follow. In view of the differential newlinegeometric setting of the PEG dynamics, computer simulation of the dynamics newlineunder different pursuer and evader strategies and for differential speeds of the newlinepursuer and the evader, can give valuable insight into the PEG design especially in newlinethe context of robotic pursuit of an enemy. newlineFrom the perspective of pursuer in a PEG, a favourable payoff/performance is newlineshorter time to capture the evader and closer tracking response of the manifold. newlineUnder the assumption of constant speed scaling factor of both the pursuer and the newlineevader, with the pursuer running faster, the question arises, for example, whether newlinethe performance could be optimized over and above that of the feedback laws found newlinein the literature. Computer simulation has shown that the performance can be newlineimproved dramatically, under certain cases, over that of proportional feedback newlinealone by employing Proportional plus Integral (PI), Proportional plus Derivative newline(PD) and Proportional plus Integral plus Derivative (PID) control laws in a newlinenonlinear feedback setting irrespective of the evader control law used.Taking the perspective of evader, a favourable payoff of the PEG is longer time newlineresponse of capture, which means more time to evade from the pursuer. To achieve newlinethis performance, the sudden turn control law is formulated, inspired from the newlineii newlinenature. The sudden turn left or right is taken by the evader when the pursuer newlineapproaches too closely.