The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation

Wenyuan Li; Yuan Yuan; Huanhuan Yuan

doi:10.1109/ONCON60463.2023.10430872

The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation

Wenyuan Li, Yuan Yuan, Huanhuan Yuan

School of Astronautics

Northwestern Polytechnical University Xian

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

1 Scopus citations

Abstract

In this paper, the pursuit-evasion problem under obstacle environment between two wheeled robots is investigated by the Stackelberg game. To address this problem, a linear non-quadratic differential game theorem with the general form is proposed, supplying a unified framework to obtain the analytical nonlinear control strategies. The Lyapunov function with a similar non-quadratic form, as the solution to the Hamilton-Jacobi-Isaacs equation, is designed by polynomial approximation methods. Therefore, Stackelberg Equilibrium (SE) can be reached and the stability is guaranteed with the closed-loop feedback control laws. The experiments on two wheeled robots demonstrate the effectiveness of the SE strategies.

Original language	English
Title of host publication	2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023
Publisher	Institute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)	9798350357974
DOIs	https://doi.org/10.1109/ONCON60463.2023.10430872
State	Published - 2023
Event	2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023 - Virtual, Online, United States Duration: 8 Dec 2023 → 10 Dec 2023

Publication series

Name	2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023

Conference

Conference	2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023
Country/Territory	United States
City	Virtual, Online
Period	8/12/23 → 10/12/23

Keywords

obstacle avoidance
polynomial approximation
pursuit-evasion game
Stackelberg Equilibrium

Access to Document

10.1109/ONCON60463.2023.10430872

Cite this

Li, W., Yuan, Y., & Yuan, H. (2023). The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. In 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023 (2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ONCON60463.2023.10430872

Li, Wenyuan ; Yuan, Yuan ; Yuan, Huanhuan. / The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023).

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title = "The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation",

abstract = "In this paper, the pursuit-evasion problem under obstacle environment between two wheeled robots is investigated by the Stackelberg game. To address this problem, a linear non-quadratic differential game theorem with the general form is proposed, supplying a unified framework to obtain the analytical nonlinear control strategies. The Lyapunov function with a similar non-quadratic form, as the solution to the Hamilton-Jacobi-Isaacs equation, is designed by polynomial approximation methods. Therefore, Stackelberg Equilibrium (SE) can be reached and the stability is guaranteed with the closed-loop feedback control laws. The experiments on two wheeled robots demonstrate the effectiveness of the SE strategies.",

keywords = "obstacle avoidance, polynomial approximation, pursuit-evasion game, Stackelberg Equilibrium",

author = "Wenyuan Li and Yuan Yuan and Huanhuan Yuan",

note = "Publisher Copyright: {\textcopyright} 2023 IEEE.; 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023 ; Conference date: 08-12-2023 Through 10-12-2023",

year = "2023",

doi = "10.1109/ONCON60463.2023.10430872",

language = "英语",

series = "2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

booktitle = "2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023",

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Li, W, Yuan, Y & Yuan, H 2023, The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. in 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023. 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023, Institute of Electrical and Electronics Engineers Inc., 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023, Virtual, Online, United States, 8/12/23. https://doi.org/10.1109/ONCON60463.2023.10430872

The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. / Li, Wenyuan; Yuan, Yuan; Yuan, Huanhuan.
2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023. Institute of Electrical and Electronics Engineers Inc., 2023. (2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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T1 - The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation

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AU - Yuan, Yuan

AU - Yuan, Huanhuan

PY - 2023

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N2 - In this paper, the pursuit-evasion problem under obstacle environment between two wheeled robots is investigated by the Stackelberg game. To address this problem, a linear non-quadratic differential game theorem with the general form is proposed, supplying a unified framework to obtain the analytical nonlinear control strategies. The Lyapunov function with a similar non-quadratic form, as the solution to the Hamilton-Jacobi-Isaacs equation, is designed by polynomial approximation methods. Therefore, Stackelberg Equilibrium (SE) can be reached and the stability is guaranteed with the closed-loop feedback control laws. The experiments on two wheeled robots demonstrate the effectiveness of the SE strategies.

AB - In this paper, the pursuit-evasion problem under obstacle environment between two wheeled robots is investigated by the Stackelberg game. To address this problem, a linear non-quadratic differential game theorem with the general form is proposed, supplying a unified framework to obtain the analytical nonlinear control strategies. The Lyapunov function with a similar non-quadratic form, as the solution to the Hamilton-Jacobi-Isaacs equation, is designed by polynomial approximation methods. Therefore, Stackelberg Equilibrium (SE) can be reached and the stability is guaranteed with the closed-loop feedback control laws. The experiments on two wheeled robots demonstrate the effectiveness of the SE strategies.

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KW - polynomial approximation

KW - pursuit-evasion game

KW - Stackelberg Equilibrium

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Li W, Yuan Y, Yuan H. The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. In 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023. Institute of Electrical and Electronics Engineers Inc. 2023. (2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023). doi: 10.1109/ONCON60463.2023.10430872

The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation

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