We examine the use of an evolutionary algorithm to design a feedback controller for a dual pursuit-evasion problem.In this problem, two players, Player A and Player B, move about an obstacle-free, two-dimensional plane with constant speeds and bounded turn rates.Player A strives to capture Player B by maneuvering behind and closing within a defined capture distance.Simultaneously, Player B is attempting to capture Player A while avoiding being captured itself.Although the general form of this problem is two-sided, we examine the design of strategies for Player A against a collection of possible adversarial strategies implemented by Player B. We pose a nearest neighbor switching control structure that is represented using a parameterized matrix.An evolutionary algorithm is utilized to evolve these parameters in order to develop a feedback controller for Player A to efficiently capture Player B while evading capture itself.
