Safe Navigation in the Presence of Range-Limited Pursuers

Abstract

This paper examines the degree to which an evader seeking a safe and efficient path to a target location can benefit from increasing levels of knowledge regarding one or more range-limited pursuers seeking to intercept it. Unlike previous work, this research considers the time of flight of the pursuers actively attempting interception. It is shown that additional knowledge allows the evader to safely steer closer to the threats, shortening paths without accepting additional risk of capture. A control heuristic is presented, suitable for real-time implementation, which capitalizes on all knowledge available to the evader.