多追踪者多逃避博弈的启发式任务调度

Shiyuan Jin, Z. Qu
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引用次数: 10

摘要

本文介绍了一种分而治之的启发式任务调度优化方法,用于具有挑战性的多追捕者多逃避者(MPME)博弈,其中追捕者试图最小化捕获所有逃避者的时间,而逃避者试图最大化捕获时间。通过两步分层方法解决了MPME任务调度问题。在高层次上,游戏通过结合Voronoi图和基于协商的机制(通过启发式目标函数)被划分为若干子游戏或团队,以提高追求的效率。在较低的层次上,每个团队中的追捕者由他们的团队领导在当地指导追捕跑得较慢或较快的逃避者。我们主要关注一个位置调度问题,即在进入捕获阶段之前,追捕者如何在团队中尽可能快地包围更快的逃避者。我们使用启发式方法来解决复杂的调度问题,而不是使用计算密集型方法。除了关注追逃方的合作外,还简要讨论了逃避方的合作。仿真结果表明了该方法的有效性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
A heuristic task scheduling for multi-pursuer multi-evader games
This paper introduces a divide-and-conquer, heuristic task scheduling optimization approach on the challenging multi-pursuer multi-evader (MPME) games in which pursuers attempt to minimize the time to capture all evaders whereas evaders try to maximize the capture time. The MPME task scheduling problem is solved through a two-step hierarchical approach. At the high level, the game is divided into a number of subgames or teams using a combination of Voronoi diagram and a negotiation-based mechanism (through heuristic objective functions) to make the pursuit more efficient. At the low level, pursuers within each team are directed locally by their team leader to pursue an evader which runs slower or faster. We mainly focus on a position scheduling problem of how pursuers in a team can surround a faster evader as quickly as possible before entering into the capture phase. Instead of using computation intensive approaches, we use heuristics to solve the complex scheduling problems. In addition to focusing on the pursuer side, evader cooperation is also briefly discussed. Simulation results show the effectiveness of the proposed approach.
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