Target pursuit for multi-AUV system: zero-sum stochastic game with WoLF-PHC assisted

IF 5 2区 计算机科学 Q1 COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE
Le Hong, Weicheng Cui
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引用次数: 0

Abstract

Due to the complexity of the underwater environment and the difficulty of the underwater energy recharging, utilizing multiple autonomous underwater vehicles (AUVs) to pursue the invading vehicle is a challenging project. This paper focuses on devising the rational and energy-efficient pursuit motion for a multi-AUV system in an unknown three-dimensional environment. Firstly, the pursuit system model is constructed on the two-player zero-sum stochastic game (ZSSG) framework. This framework enables the fictitious play on the behaviors of the invading AUV. Fictitious play involves players updating their strategies by observing and inferring the actions of others under incomplete information. Under this framework, a relay-pursuit mechanism is adopted by the pursuit system to form the action set in an energy-efficient way. Then, to reflect the pursuit goals of capturing the invading vehicle as soon as possible and avoid it from reaching its point of attack, two corresponding pursuit factors are considered in the designed reward function. To enable the pursuit AUVs to navigate in an unknown environment, WoLF-PHC algorithm is introduced and applied to the proposed ZSSG-based model. Finally, simulations demonstrate the effectiveness, the advantages, and the robustness of the proposed approach.

多 AUV 系统的目标追逐:WoLF-PHC 辅助的零和随机博弈
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来源期刊
Complex & Intelligent Systems
Complex & Intelligent Systems COMPUTER SCIENCE, ARTIFICIAL INTELLIGENCE-
CiteScore
9.60
自引率
10.30%
发文量
297
期刊介绍: Complex & Intelligent Systems aims to provide a forum for presenting and discussing novel approaches, tools and techniques meant for attaining a cross-fertilization between the broad fields of complex systems, computational simulation, and intelligent analytics and visualization. The transdisciplinary research that the journal focuses on will expand the boundaries of our understanding by investigating the principles and processes that underlie many of the most profound problems facing society today.
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