A Simple and Effective Strategy of a Superior Evader in a Pursuit-Evasion Game

In this paper, we consider a multi-pursuer single-evader pursuit-evasion game where the evader is faster than the pursuers. We show how a faster evader can easily change the angle distribution of the pursuers and give an evader strategy based on this method. We prove that an evader implementing our algorithm is guaranteed to escape against three pursuers following the extension of the parallel guidance law given in [1] if the pursuers' distance from the evader at the start of the pursuit is greater than a lower bound. We perform simulations to confirm these results, both with Dubins-like, and omnidirectional robot models.