A Matlab project for planning pursuit-evasion paths in planar simply connected polygonal environments
The implementation is based on the algorithm presented in this paper: http://robotics.stanford.edu/~latombe/cs326/2003/class16/pursuit-evasion.pdf
A demonstration of the planner is compiled in PEpaths.exe in a zip in the Downloads folder, where there are also several example environments. The demo also has a built-in environment builder.
The Matlab Runtime 2017a (9.2) necessary to run PEpath.exe can be found here: https://www.mathworks.com/products/compiler/mcr.html.
This project made extensive use of the planar visibility library at https://github.com/karlobermeyer/VisiLibity1.
Thanks to Professor Roberto Tron at Boston University College of Engineering