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

Wenyuan Li, Yuan Yuan, Huanhuan Yuan

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-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 languageEnglish
Title of host publication2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9798350357974
DOIs
StatePublished - 2023
Event2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023 - Virtual, Online, United States
Duration: 8 Dec 202310 Dec 2023

Publication series

Name2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023

Conference

Conference2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023
Country/TerritoryUnited States
CityVirtual, Online
Period8/12/2310/12/23

Keywords

  • obstacle avoidance
  • polynomial approximation
  • pursuit-evasion game
  • Stackelberg Equilibrium

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