Coordinated pursuer control using particle filters for autonomous search-and-capture

Abstract

In a real-world pursuit-evasion (PE) game, the pursuers often have a limited field-of-view of the evaders and thus are required to search for and detect the evaders before capturing them. This paper presents a unified framework and control algorithm using particle filters (PFs) for the coordination of multiple pursuers to search for and capture multiple evaders given the ability of PF to estimate highly non-Gaussian densities prevalent in search problems. The pursuer control problem is formulated as a stochastic control problem where global objectives function of both searching and capturing are common. To take the evaders’ actions into account, an action measure (AM) is defined over the evaders’ PDs is used to represent the probability that the evader may transit each state in the PD. The global objective functions for search and capture are then decomposed into local objective functions for unification through objective priority weights. Coordination between the pursuers takes place through the multi-sensor update where the observation likelihoods of all pursuers are used in the PF update stage. The control actions of each pursuer are then determined individually, based on the updated PDs given the objective weights, action measures as well as evader importance weights in the case of multiple evaders. The proposed algorithm is tested in three scenarios for its effectiveness. In addition, a parametric study on the average capture time against the initial variances of the target state uncertainty is conducted to test for robustness. Results show that the pursuers are able to capture all the evaders in each case with the capture time for the second and last scenario differing by only 2.9% implying firstly that under the proposed algorithm, the capture time is not proportional to the increase in the number of evaders and also suggested robustness and potential scalability of the proposed algorithm.