An evader-centric strategy against fast pursuer in an unknown environment with static obstacles

In this paper, we consider a pursuit-evasion game problem in a geometric setting, where a single pursuer and single evader are in motion with conflicting interests. The pursuer follows a recently introduced angular acceleration guidance law to catch the evader and the evader-centric strategy is supposed to keep the evader away from the pursuer for maximum possible time in an unknown environment having static obstacles. An evader-centric approach is proposed in the present paper that uses linear extrapolation to predict the future move of the evader and define its own strategy. The well-known tangent bug algorithm is employed to deal with static obstacles. Effectiveness of the proposed evader´s strategy has been analyzed in terms of interception time and distance travelled by the players. Simulation results demonstrate effectiveness and efficiency of the proposed method.