In this thesis we study a new type of pursuit-evasion game, which we call the
herding problem. Unlike typical pursuit evasion games where the pursuer aims to
catch or intercept the evader, the goal of the pursuer in this game is to drive the
evader to a certain location or region in the x-y plane. This herding model is proposed
and represented using dynamic equations. The model is implemented in an effort to
understand how two pursuers work cooperatively to drive multiple evaders to the
desired destination following weighted time-optimal and effort-optimal control paths.
Simulation of this herding problem is accomplished through dynamic programming by
utilizing the SNOPT software in the MATLAB environment. The numerical solution
gives us the optimal path for all agents and the corresponding controls as well as the
relative distance and angle variables. The results show that the pursuers can work
cooperatively to drive multiple evaders to the goal.
| Identifer | oai:union.ndltd.org:tamu.edu/oai:repository.tamu.edu:1969.1/ETD-TAMU-1028 |
| Date | 15 May 2009 |
| Creators | Lu, Zhenyu |
| Contributors | Hurtado, John E. |
| Source Sets | Texas A and M University |
| Language | en_US |
| Detected Language | English |
| Type | Book, Thesis, Electronic Thesis, text |
| Format | electronic, application/pdf, born digital |
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