A Planar Tracking Game with Sensing Delays and its MATLAB Implementation

TL;DR

This paper introduces a new approach to planar target tracking with sensing delays, presenting a MATLAB/Simulink implementation of a pursuit-evasion game with detailed modeling and controller design.

Contribution

It provides a novel perspective on tracking with delays and offers a complete MATLAB implementation of the pursuit-evasion game.

Findings

Successful modeling of delayed sensing in pursuit-evasion dynamics

Development of a MATLAB/Simulink game simulation

Detailed controller design for delayed sensing scenarios

Abstract

This paper proposes a new perspective on the conventional planar target tracking problem. One evader and one pursuer are considered in the dynamics. In the planar tracking, pursuer has the ability to measure the position and the velocity information of the evader but with sensing delays. The modeling and the controller design of the system are presented with details. Then, a computer game is developed and implemented using MATLAB/Simulink, which constitutes the main contribution of the paper.