A State Space Partitioning Scheme for Vehicle Control in Pursuit-Evasion Scenarios
| dc.contributor.author | Goode, Brian Joseph | en |
| dc.contributor.committeechair | Roach, John W. | en |
| dc.contributor.committeemember | Kurdila, Andrew J. | en |
| dc.contributor.committeemember | Leonessa, Alexander | en |
| dc.contributor.committeemember | Papenfuss, Cory M. | en |
| dc.contributor.committeemember | Stilwell, Daniel J. | en |
| dc.contributor.department | Mechanical Engineering | en |
| dc.date.accessioned | 2014-03-14T21:22:38Z | en |
| dc.date.adate | 2011-11-01 | en |
| dc.date.available | 2014-03-14T21:22:38Z | en |
| dc.date.issued | 2011-10-21 | en |
| dc.date.rdate | 2011-11-01 | en |
| dc.date.sdate | 2011-10-28 | en |
| dc.description.abstract | Pursuit-evasion games are the subject of a variety of research initiatives seeking to provide some level of autonomy to mobile, robotic vehicles with on-board controllers. Applications of these controllers include defense topics such as unmanned aerial vehicle (UAV) and unmanned underwater vehicle (UUV) navigation for threat surveillance, assessment, or engagement. Controllers implementing pursuit-evasion algorithms are also used for improving everyday tasks such as driving in traffic when used for collision avoidance maneuvers. Currently, pursuit-evasion tactics are incorporated into the control by solving the Hamilton-Jacobi-Isaacs (HJI) equation explicitly, simplifying the solution using approximate dynamic programming, or using a purely finite-horizon approach. Unfortunately, these methods are either subject to difficulties of long computational times or having no guarantees of succeeding in the pursuit-evasion game. This leads to more difficulties of implementing these tactics on-line in a real robotic scenario where the opposing agent may not be known before the maneuver is required. This dissertation presents a novel method of solving the HJI equation by partitioning the state space into regions of local, finite horizon control laws. As a result, the HJI equation can be reduced to solving the Hamilton-Jacobi-Bellman equation recursively as information is received about an opposing agent. Adding complexity to the problem structure results in a decreased calculation time to allow pursuit-evasion tactics to be calculated on-board an agent during a scenario. The algorithms and implementation methods are given explicitly and illustrated with an example of two robotic vehicles in a collision avoidance maneuver. | en |
| dc.description.degree | Ph. D. | en |
| dc.identifier.other | etd-10282011-170419 | en |
| dc.identifier.sourceurl | http://scholar.lib.vt.edu/theses/available/etd-10282011-170419/ | en |
| dc.identifier.uri | http://hdl.handle.net/10919/40266 | en |
| dc.publisher | Virginia Tech | en |
| dc.relation.haspart | Goode_BJ_D_2011.pdf | en |
| dc.relation.haspart | Goode_BJ_D_2011_Copyright.pdf | en |
| dc.rights | In Copyright | en |
| dc.rights.uri | http://rightsstatements.org/vocab/InC/1.0/ | en |
| dc.subject | Bellman optimality | en |
| dc.subject | differential games | en |
| dc.subject | pursuit-evasion | en |
| dc.subject | path planning | en |
| dc.subject | vehicle control | en |
| dc.title | A State Space Partitioning Scheme for Vehicle Control in Pursuit-Evasion Scenarios | en |
| dc.type | Dissertation | en |
| thesis.degree.discipline | Mechanical Engineering | en |
| thesis.degree.grantor | Virginia Polytechnic Institute and State University | en |
| thesis.degree.level | doctoral | en |
| thesis.degree.name | Ph. D. | en |