This paper addresses a pursuit-evasion problem between two identical Differential Drive Robots (DDRs). The pursuer wants to capture the evader in minimal time, while the evader wants to delay capture as much as possible. The game takes place in a Euclidean plane without obstacles. In this work, the motion primitives and time-optimal motion strategies for both players are presented. Based on the initial positions of the players, it is possible to solve the decision problem of determining the winner of the game. Simulations of the pursuit-evasion game showing the time-optimal motion primitives of the players are provided for both cases, when the pursuer wins and when the evader escapes.

本文解决了两个相同的差动驱动机器人（DDR）之间的追逃问题。追踪者希望在最短的时间内捕获逃避者，而逃避者则希望尽可能延迟捕获。游戏在没有障碍的欧几里德飞机上进行。在这项工作中，介绍了两个玩家的运动原语和最佳时间运动策略。基于玩家的初始位置，可以解决确定游戏获胜者的决策问题。在追逐者获胜和逃避者逃脱的两种情况下，都提供了对逃避游戏的仿真，其中显示了玩家的时间最优运动原语。