A two-phase evasive strategy for a pursuit-evasion problem involving two non-holonomic agents with incomplete information

Abstract

In this paper, we consider the problem of pursuit-evasion between two non-holonomic agents. To make the problem more realistic, we assume that the pursuer and evader have incomplete information regarding each other’s motion. We propose a novel, two-phase, evasive strategy against a higher speed pursuer, based on worst-case scenario planning and proximity-based maneuver. In the first phase, the evader assumes the pursuer to have zero turn radius and executes a best-response strategy, which is analytically shown to be movement along a tangent to the turn circle of the evader. In the second phase, when the pursuer gets close to the evader, the latter switches to movement along high-curvature paths to side-step the former. The effectiveness of the two phases is shown through simulations.