Unbounded Cooperative Pursuit Using a Linearized Safe-Reachable Set
Unbounded Cooperative Pursuit Using a Linearized Safe-Reachable Set
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DOI：
10.1109/lcsys.2023.3343682
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发表时间：
2024
影响因子：
3
通讯作者：
Zikai Ouyang;Junwei Liu;Haibo Lu;Wei Zhang
中科院分区：
文献类型：
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作者：
Zikai Ouyang;Junwei Liu;Haibo Lu;Wei Zhang
这封信提出了一个在线合作的追求策略，多个追求者在一个无界的域。基于Voronoi图的追踪是一种流行的合作追踪策略，它是通过最小化逃逸者的Voronoi单元的面积来设计的。然而，这种追踪策略只适用于有界域，因为Voronoi单元在有界环境中定义良好。相反，我们的策略是建立在最小化的逃避者和它的安全可达集（SRS）之间的最远平方距离，这制定了一个在线凹优化问题的合作追求。为了克服求解凹优化问题所产生的计算负担，我们线性化的SRS作为一个凸多边形的边界上的采样顶点的SRS，这将凹优化问题转化为一个更容易处理的。此外，我们表明，如果顶点数是足够大的，我们的方法可以保证捕获的逃避者在有限的时间与非零捕获半径的情况下。仿真结果证明了我们的方法的有效性和效率。
This letter proposes an online cooperative pursuit strategy for multiple pursuers within an unbounded domain. One of the popular cooperative pursuit strategies is Voronoi-based pursuit, which is designed by minimizing the area of the evader’s Voronoi cell. However, this pursuit strategy only works for bounded domains as the Voronoi cell is well-defined in a bounded environment. Instead, our strategy is built upon the minimization of the farthest squared distance between the evader and its safe-reachable set (SRS), which formulates the cooperative pursuit as an online concave optimization problem. To overcome the computational burden arising from solving the concave optimization problem, we linearize the SRS as a convex polygon by sampling vertices on the boundary of SRS, which transforms the concave optimization problem into a more tractable one. Moreover, we show that if the vertex number is large enough, our approach can guarantee a capture of the evader in finite time for cases with non-zero capture radii. Simulation results demonstrate the efficacy and efficiency of our approach.