Notes on the pursuit-evasion games between unmanned aerial vehicles operating in uncertain environments

We solve the planar case of the urgent pursuit-evasion problem for players using various strategies of motion. The following options are considered: players perform piecewise-linear motions; the pursuer moves in a straight line, and the evader moves in a circle; both players move along circular arcs. We propose schemes to solve the formulated problem based on the construction of Apollonius circles, which are geometric invariants. As participants of the game, we assume unmanned aerial vehicles (UAVs) operating in a non-deterministic environment. To solve the problem under uncertainty we use the theory of intelligent geometric control aimed at the joint application of complementary methods of precise geometric and flexible intelligent control as parts of one robotic system. Experimental studies of pursuit-evasion games are carried out in the MATLAB system using mathematical models of UAVs motion and wind loads. © 2021 IEEE