A novel pursuit strategy for fast evader in indoor pursuit-evasion games

This paper is concerned with the pursuit problem of indoor pursuit-evasion games (PEGs) with multiple pursuers and one fast evader. The system is implemented in multiple mobile robots with the ability of wireless communication. A model of the pursuit problem of fast evader in indoor PEGs is presented to consider the case that the exact position of evader is unavailable to the pursuers. To solve this PEG, we introduce the concept of dirty set to represent all possible locations of the evader. Based on an intuitively defined cost function, we then propose the ISCD algorithm to guarantee the shrink of the dirty set until the evader is successfully captured. Experiment results show that ISCD algorithm has guaranteed convergence property and the capture occurs even with a small number of pursuers after a few steps.