A pursuit-evasion game with one curvature constraint

In this paper, a pursuit-evasion game, in which the pursuer moves with simp le motion whereas the evader moves at a fixed speed but with a curvature co nstraint, is investigated. The game is the inverse of the usual homicidal c hauffeur game. Square of the distance between the pursuer and the evader wh en the game is terminated is selected as the cost function. To solve such a zero-sum game, a Hamiltonian approach is applied. An algorithm is proposed to determine a saddle point and the value of the game under consideration. Copyright (C) 2000 John Wiley & Sons, Ltd.