Modified Extremum Seeking Control for Target Tracking and Formation Control in Pursuit-Evasion Game

In a pursuit-evasion game, the mobile robot pursuer's ability to navigate from its initial position to the evader while maintaining a safe distance from other objects requires a good obstacle avoidance system. This study aims to perform target tracking in evader sieges and obstacle avoidance against other pursuer robots and static obstacles by proposing a modified extreme seeking controller (ESC). A modified backstepping control (BC) was used as an autopilot control for a nonholonomic mobile robot to execute the modified ESC command. The modified BC based on the modified ESC requires the positions of the targeted evader, pursuers, and obstacles. The pursuer uses this information to capture an evader by arranging the desired formation without colliding with static obstacles or other robots. The results of the simulations show that the pursuers successfully surround the evader and construct the formation without colliding with obstacles. The proposed method resulted in the closest distance of 2.071 m between the pursuers, 1.954 m between each pursuer and the evader, and 2.425 m between the pursuers and static obstacles.