Implementation of Pursuit-Evasion Differential Games Using simple Fuzzy System based on E-puck Robot System

In this paper, A new simple Fuzzy System (FS) is applied to Pursuit-Evasion differential games (DG). The suggested technique allows both the evader and the pursuer to adapt to the E-puck Robot System which cannot accept off-limits velocity and angular velocity accurately. FS is used to autonomously tune the output velocity and angular velocity for both the evader and the pursuer by setting up a range. If the output velocity and angular velocity are under the range, they are not processed. Otherwise, they are converted to fuzzy logic parameters which can be read by E-puck Robot System. During the parameters adjustment, the global continuity of Pursuit-Evasion DG remains unchanged. This paper focuses more on whether the pursuer can pursue the evader under this control strategy. The simulation results of the suggested technique demonstrate that the pursuer can pursue the evader under this new control strategy based on simulation. Furthermore, the new simple FS is further implemented on E-puck Robot System in the laboratory. This new control strategy in Pursuit-Evasion DG can be generalized to muli-agent trajectory optimization which exist constraint of velocity and angular velocity.