An optimal evasion problem: Complete global solution (Q1090268)

We consider a collision avoidance optimal control problem. The kinematics is modelled by a maneuverable point E in the plane, with a limited rate of turn (a car à la Isaacs), that is moving at a constant speed \(v_ E\) and is trying to avoid a circular disc of radius e centered around a point P, known to move at a constant speed \(v_ P\) in the positive direction of the y-axis. Global questions, answered analytically in the paper, are these: (i) the initial positions of E, (relative to P), for which the capture of E by P is assured; we characterize the capture zone in the state space; (ii) given that E is initially in the capture zone, we solve the optimal control problem of steering E to maximize the bearing of E from P at the instant of capture; (iii) we investigate the dependence of the answers to (i) and (ii) on the problem parameters \(\alpha \triangleq v_ P/v_ E\) \((>1)\) and e. We solve complete a relatively simple, but practically meaningful, optimal evasion problem, not previously published to our knowledge.