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

航天学院

Northwestern Polytechnical University Xian

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

1 引用（Scopus）

摘要

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.

源语言	英语
主期刊名	2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023
出版商	Institute of Electrical and Electronics Engineers Inc.
ISBN（电子版）	9798350357974
DOI	https://doi.org/10.1109/ONCON60463.2023.10430872
出版状态	已出版 - 2023
活动	2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023 - Virtual, Online, 美国期限: 8 12月 2023 → 10 12月 2023

出版系列

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

会议

会议	2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023
国家/地区	美国
市	Virtual, Online
时期	8/12/23 → 10/12/23

访问文件

10.1109/ONCON60463.2023.10430872

其它文件与链接

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引用此

Li, W., Yuan, Y., & Yuan, H. (2023). The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. 在 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).

@inproceedings{ad2a429068004734b81cd84e8e0549c5,

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",

}

Li, W, Yuan, Y & Yuan, H 2023, The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. 在 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, 美国, 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).

科研成果: 书/报告/会议事项章节 › 会议稿件 › 同行评审

TY - GEN

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

AU - Li, Wenyuan

AU - Yuan, Yuan

AU - Yuan, Huanhuan

PY - 2023

Y1 - 2023

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.

KW - obstacle avoidance

KW - polynomial approximation

KW - pursuit-evasion game

KW - Stackelberg Equilibrium

UR - http://www.scopus.com/inward/record.url?scp=85186747811&partnerID=8YFLogxK

U2 - 10.1109/ONCON60463.2023.10430872

DO - 10.1109/ONCON60463.2023.10430872

M3 - 会议稿件

AN - SCOPUS:85186747811

T3 - 2023 IEEE 2nd Industrial Electronics Society Annual On-Line Conference, ONCON 2023

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

PB - Institute of Electrical and Electronics Engineers Inc.

T2 - 2nd IEEE Industrial Electronics Society Annual On-Line Conference, ONCON 2023

Y2 - 8 December 2023 through 10 December 2023

ER -

Li W, Yuan Y, Yuan H. The Obstacle Avoidance Pursuit-Evasion Game with A Non-Quadratic Performance Index Based on Polynomial Approximation. 在 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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