Implementation of an Open-Loop Turn Circle Intercept Controller

Abstract

We examine the practical implementation of an evolutionary algorithm to solve a pursuit evasion problem. In this problem, an Attacker and a Target move about an infinite plane with constant speeds. The Target moves in a constant circle, whereas the Attacker is free to change its direction with a bounded turn rate. The goal of the Attacker is to capture the Target in minimum time. We used pursuit evasion robots to physically model this problem and implement an evolutionary algorithm to evaluate the controller performance in real-world systems.