01522nas a2200145 4500008004100000245008600041210006900127300001200196490000700208520105100215100001901266700002301285700002001308856004801328 2012 eng d00aSwitched and Symmetric Pursuit/Evasion Games With Online Model Predictive Control0 aSwitched and Symmetric PursuitEvasion Games With Online Model Pr a604-6200 v203 a
This paper describes a supervisory controller for pursuit and evasion of two fixed-wing autonomous aircraft. Novel contributions of the work include the real-time use of model- predictive control, specifically nonlinear model predictive tracking control, for predictions of the vehicle under control, as well as predictions for the adversarial aircraft. In addition to this inclusion, the evasive controller is a hybrid system, providing switching criteria to change modes to become a pursuer based on the current and future state of the vehicle under control, and that of the adversarial aircraft. Results of the controller for equally matched platforms in actual flight tests against a US Air Force trained F-15 test pilot are given. Extensive simulation analysis of the symmetric games is provided, including regressive analysis based on initial conditions of height advantage, and relative velocity vectors, and in particular the effect of allowing the evading aircraft to switch modes between "evader" and "pursuer" during the game.
1 aEklund, Mikael1 aSprinkle, Jonathan1 aSastry, Shankar uhttp://dx.doi.org/10.1109/TCST.2011.2136435