Pursuit-Evasion Games of High Speed Evader
Pursuit-Evasion Games of High Speed Evader
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DOI：
10.1007/s10846-016-0379-3
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发表时间：
2017-02-01
影响因子：
3.3
通讯作者：
Kothari, Mangal
中科院分区：
文献类型：
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作者：
Ramana, M. V.;Kothari, Mangal
本文研究开放区域中具有完整约束的多个追赶者和一个逃避者的高速逃避者的追逃对策。关于这一问题的现有工作讨论了一组追逐者所需的编队和捕获策略。然而，这一公式存在数学错误，并引发了人们对制定的捕获战略有效性的担忧。本文利用阿波罗尼乌斯圆的思想，提出了一种高速避雷器的逃生策略，解决了现有工作中的不足。该战略建立在完全包围编队的概念上，并给出了构建完全包围编队所需的条件。逃生策略包括两个步骤。首先，逃避者采用一种策略，迫使队形与一群追赶者的所有可接受的策略形成差距。在第二步中，它利用这个缺口来逃脱。该战略既考虑了编队的直接差距，也考虑了间接差距。当雇用一组三到四个追踪者来捕获时，就会遇到间接的差距。利用仿真结果确定了逃生策略的有效性。
In this paper, we address pursuit-evasion games of high speed evader involving multiple pursuers and a single evader with holonomic constraints in an open domain. The existing work on this problem discussed the required formation and capture strategy for a group of pursuers. However, the formulation has mathematical errors and has raised concerns over the validity of the developed capture strategy. This paper uses the idea of Apollonius circle to develop an escape strategy for the high speed evader, resolving the shortfalls in the existing work. The strategy is built on a concept of perfectly encircled formation and the conditions required to construct the same are presented. The escape strategy contains two steps. Firstly, the evader employs a strategy that forces a gap in the formation against all the admissible strategies of a group of pursuers. In the second step, it uses this gap to escape. The strategy considers both direct and indirect gaps in the formations. The indirect gap is encountered when a group of three or four pursuers is employed to capture. The efficacy of the escape strategy is established using simulation results.