Leveraging Obstacles for Strategic Evasion in Quadrotor Pursuit-Evasion Games

This paper explores a quadrotor pursuit-evasion (PE) game in an environment with obstacles. Existing research typically focuses on evasion strategies that avoid obstacles while increasing the distance from the pursuer, and very few studies have attempted to use obstacles to gain an advantage in winning the PE game. Assuming both quadrotors follow Dubin's car dynamics and the pursuer is less agile due to a larger minimum turning radius, this paper introduces a novel evasion strategy. This strategy leverages the obstacle by having the evader perform agile turns near it, potentially causing the pursuer to collide with the obstacle. Gazebo simulations have been conducted to validate that the evasion strategy can lead to the pursuer colliding with the obstacle under appropriate conditions.