COMPLETE SOLUTION OF A PURSUIT–EVASION DIFFERENTIAL GAME WITH HYBRID EVADER DYNAMICS

A pursuit–evasion differential game of prescribed duration with bounded controls is considered. The evader has two possible dynamics, while the pursuer dynamics is fixed. The evader can change its dynamics once during the game and its initial lateral acceleration is nonzero. The pursuer knows the possible dynamics of the evader, but not the actual one. Due to the different information sets of the players the game is not zero-sum. The robust capture zone of the pursuer and the robust escape zone of the evader are constructed and analyzed. Since the game is not zero-sum the robust capture/escape zones do not complement each other. Illustrative examples are presented.