On the Influence of Time-delay on a Pursuit-evasion Game of an Omnidirectional Robot Evader with Delayed Information and a Differential Drive Robot Pursuer

Abstract

Studies of pursuit-evasion games are valuable for a variety of applications, such as the navigation of mobile robots. Researchers have investigated pursuit-evasion games of mobile robots from various perspectives, including the motion strategy of mobile robots, the value of information, and the outcome of pursuit-evasion games of different motion robots (e.g., Omnidirectional Robots (ORs) and Differential Drive Robots (DDRs)). Time-delay is an inevitable issue for mobile robots in the real world. However, the influence of time-delay on a pursuit-evasion game of a DDR pursuer and an OR evader with delayed information has not been clarified yet. To this end, the present paper investigates the influence of time-delay on a pursuit-evasion game of an OR evader with delayed information and a DDR pursuer with non-delayed information. Theorems of the influence of time-delay suffered by the OR evader are achieved for a pursuit-evasion game that the OR evader cannot guarantee the capture-avoidance based on non-delayed information and a pursuit-evasion game that the OR evader can guarantee the capture-avoidance based on non-delayed information. Pursuit-evasion games of an OR evader and a DDR pursuer are run both in simulation and on real mobile robots to demonstrate and verify the investigation of the influence of time-delay on a pursuit-evasion game of an OR evader with delayed information and a DDR pursuer with non-delayed information.