Capturing a Differential Drive Robot With a Dubins Car

This work addresses the pursuit-evasion problem of capturing a Differential Drive Robot (DDR) with Dubins Car (DC) in minimum time. We model as zero-sum differential game, and using game theory, we compute time-optimal motion strategies players near end game. unveil existence three singular surfaces: an Evader’s Dispersal Surface (EDS), Transition (TS), where DDR switches its controls, Pursuer’s Universal (PUS). A particular set for is used at each surface. To our solution, assume that both have same maximum speed bounded turning ratio. Considering previous setting, game’s outcome only depends on capabilities players. From results literature those presented current paper, can establish has advantage when it plays pursuer or evader compared to performing role.