具有简单运动的最优追击策略仿真

S. V. Pashko
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引用次数: 0

摘要

研究了单个追击者以简单动作追击目标的策略。标准是捕获目标的时间。给出了并行逼近策略和追赶策略的最优性证明。平行逼近的策略在于,追捕者知道目标在当前时刻的速度矢量,认为这个矢量是恒定的,并计算出目标运动线上的一个点,如果追捕者以恒定的最大速度移动,在这个点上可以捕获目标。在每一时刻,追踪者的速度矢量都指向捕获点,速度大小最大。如果追击者以最大速度向目标方向移动,则追击策略称为追逐策略。给出了用数值方法计算的并行逼近策略和追逐策略的追捕实例。确定了影响捕获时间的agent运动的主要参数:目标与追捕者的速度、追捕开始时目标与追捕者的坐标、目标运动线的类型和参数;跟踪任务由这些参数决定。在数值模拟的基础上,提出了并行逼近策略优于追逐策略或追逐策略优于并行逼近策略的一系列问题。所选运动参数大致对应现代作战飞机和防空装备的运动参数;在数值实验中,靶体加速度的绝对值不超过10g,其中g为自由落体加速度。由于追赶者的运动被认为是简单的,所以它的加速度的任何绝对值都是允许的。在应用并行逼近策略的情况下,该值与目标加速度的绝对值略有不同;如果采用追赶策略,追赶者的加速度绝对值会大得多。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Simulation of optimal pursuit strategies with simple motion
Strategies for pursuit of a target by one pursuer with simple movement are considered. The criterion is the time to capture the target. The proof of the optimality of the parallel approach strategy and the chas- ing strategy is presented. The strategy of parallel approach consists in the fact that the pursuer, knowing the velocity vector of the target at current moment, considers this vector to be constant and calculates a point on the target’s line of motion at which capture can occur if the pursuer moves at a constant maxi- mum speed. At each instant of time, the pursuer’s velocity vector is directed to the capture point, and the magnitude of the velocity is maximal. If the pursuer moves at maximum speed in the direction of the target, the pursuit strategy is called a chasing strategy. A number of examples of pursuit using the strate- gies of parallel approach and chasing strategy, calculated by the numerical method, are given. The main parameters of the movement of the agents affecting the time of capture are determined: the speed of the target and the pursuer, the coordinates of the target and the pursuer at the time of the beginning of the pursuit, the type and parameters of the target’s movement line; the pursuit task is determined by these para-meters. On the basis of numerical modeling, a sets of problems is outlined for which the parallel approach strategy is better then the chasing strategy or vice versa. The selected movement parameters roughly correspond to the movement parameters of modern combat aircraft and air defense equipment; in numerical experiments, the absolute value of the acceleration of the target does not exceed 10g, where g is the accele-ration of free fall. Since the pursuer’s motion is considered simple, any absolute value of its acceleration is allowed. In the case of applying the parallel approach strategy, this value slightly differs from the absolute value of the target’s acceleration; if a chasing strategy is used, the absolute magnitude of the pursuer’s acceleration can be much larger.
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