Steering Laws for Pursuit

dc.contributor.advisorKrishnaprasad, Perinkulam Sen_US
dc.contributor.advisorJusth, Eric Wen_US
dc.contributor.authorReddy, Puduru Viswanadhaen_US
dc.contributor.departmentElectrical Engineeringen_US
dc.contributor.publisherDigital Repository at the University of Marylanden_US
dc.contributor.publisherUniversity of Maryland (College Park, Md.)en_US
dc.description.abstractPursuit problems have attracted considerable attention from biologists, mathematicians and engineers. Guidance/steering laws are essential in robotic systems. In this thesis, we first review the results on steering laws for a specific pursuit process, motion camouflage with respect to infinity. This type of guidance law renders the baseline (line connecting the pursuer and evader) parallel to a fixed line. In observations of prey pursuit trajectories of echolocating bats, it has been noted that the same geometrical condition of eventual parallelism holds. We hypothesize that a steering law of the same form as discussed here for motion camouflage with respect to infinity, also applies to the trajectories of prey capture behavior by bats. In this thesis, we develop a method to extract curvatures for trajectories and a detailed investigation to validate this hypothesis. In the latter part of the thesis, we discuss the effect of delays on the performance of motion camouflage laws. We derive limits on the feedback gain and an upper bound on the delay that can be allowed in a pursuit evader system, to ensure successful motion camouflage.en_US
dc.format.extent1151779 bytes
dc.subject.pqcontrolledEngineering, Electronics and Electricalen_US
dc.subject.pqcontrolledEngineering, Roboticsen_US
dc.subject.pquncontrolledPursuit Evasionen_US
dc.subject.pquncontrolledMotion Camouflageen_US
dc.subject.pquncontrolledDelay Differential Equaitonsen_US
dc.titleSteering Laws for Pursuiten_US


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