Optimal Strategy for Multiple Evaders Against an Agile Pursuer

IF 1 Q4 AUTOMATION & CONTROL SYSTEMS

Mechatronic Systems and Control Pub Date : 2019-11-26 DOI:10.1115/dscc2019-8924

Chunsheng Liu, M. Trevorrow

引用次数: 0

Abstract

This paper focuses on the problem of multiple slow moving and less maneuverable evaders against an agile pursuer, addressing the optimal strategy for multiple evaders. This is the so-called wolf-sheep game. Two scenarios are examined: 1) both pursuer and evaders have perfect knowledge about opponents, and 2) the pursuer has limited detection capability. Since the wolf-sheep game involves the Boolean value state, the game is hard to solve using traditional methods. This paper adopts a hierarchical approach. The two player game is solved first. Then the solution of the multiplayer game is based on the two-player game and the pursuer chasing order. The optimal strategy is calculated based on Nash equilibrium. The game with limited detection capability is solved by maximizing the Close Point of Approach (CPA). The optimal solution will be found theoretically and numerically.

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多躲避者对抗敏捷追踪者的最优策略

本文研究了多个移动缓慢且机动性较差的逃避者对抗敏捷跟踪者的问题，研究了多个逃避者的最优策略。这就是所谓的狼羊游戏。研究了两种情况:1)追捕者和逃避者对对手都有完全的了解;2)追捕者的探测能力有限。由于狼羊博弈涉及布尔值状态，用传统方法求解该博弈比较困难。本文采用层次分析法。首先解决两人博弈。在此基础上，提出了基于二人博弈和追逐者追逐顺序的多人博弈解。基于纳什均衡计算出最优策略。通过最大化接近点(CPA)来解决探测能力有限的博弈问题。将从理论上和数值上找到最优解。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Mechatronic Systems and Control AUTOMATION & CONTROL SYSTEMS-

CiteScore

1.40

自引率

66.70%

发文量

期刊介绍： This international journal publishes both theoretical and application-oriented papers on various aspects of mechatronic systems, modelling, design, conventional and intelligent control, and intelligent systems. Application areas of mechatronics may include robotics, transportation, energy systems, manufacturing, sensors, actuators, and automation. Techniques of artificial intelligence may include soft computing (fuzzy logic, neural networks, genetic algorithms/evolutionary computing, probabilistic methods, etc.). Techniques may cover frequency and time domains, linear and nonlinear systems, and deterministic and stochastic processes. Hybrid techniques of mechatronics that combine conventional and intelligent methods are also included. First published in 1972, this journal originated with an emphasis on conventional control systems and computer-based applications. Subsequently, with rapid advances in the field and in view of the widespread interest and application of soft computing in control systems, this latter aspect was integrated into the journal. Now the area of mechatronics is included as the main focus. A unique feature of the journal is its pioneering role in bridging the gap between conventional systems and intelligent systems, with an equal emphasis on theory and practical applications, including system modelling, design and instrumentation. It appears four times per year.