Engagement Zones for a Turn Constrained Pursuer

TL;DR

This paper develops models for engagement zones in pursuit-evasion scenarios where the pursuer has turn constraints, providing insights into risk regions and vehicle avoidance strategies.

Contribution

It introduces two novel engagement zone models considering turn-constrained pursuers with limited range, advancing pursuit-evasion theory.

Findings

Derived two engagement zone models for turn-constrained pursuers

Simulated vehicle avoidance within the derived zones

Provided insights into risk regions and pursuit strategies

Abstract

This work derives two basic engagement zone models, describing regions of potential risk or capture for a mobile vehicle by a pursuer. The pursuer is modeled as having turn-constraints rather than simple motion. Turn-only (C-Paths) and turn-straight (CS-Paths) paths are considered for the pursuer of limited range. Following the derivation, a simulation of a vehicle avoiding the pursuer's engagement zone is provided.