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Game-Theoretical Persistent Tracking of a Moving Target Using a Unicycle-Type Mobile Vehicle

This paper studies a persistent tracking problem, which is to design a control strategy for a unicycle-type mobile vehicle to track a moving target and to maintain the tracking distance within a detection range all the time, regardless of the target's motion. In a proposed framework based on the game theory, a bounded and closed region encircling the tracking vehicle is identified to enable persistent tracking and a tracking algorithm is constructed accordingly. The proposed approach is successfully verified through experiments using two ground vehicles, one serving as the autonomous tracking vehicle and the other as the target vehicle.