Multi-unmanned-boat incomplete information roundup method based on game theory
An unmanned boat, incomplete technology, used in non-electric variable control, two-dimensional position/channel control, instruments and other directions
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[0059] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments.
[0060] Step 1: Build the round-up map environment
[0061] Definition (siege space): the hunting range of the siege boat to the non-cooperative target is the siege space, and the siege boat and the non-cooperative target are game participants. In the round-up space, the discretization method is applied to solve the segmented round-up problem of multiple unmanned boats.
[0062] Definition (participating boat): define participating boats in the encirclement space, which includes: chasing boats and escape boats.
[0063] The grid method is used to construct the round-up space, and the grid round-up coordinate system is established, and assuming that the distance between two adjacent grids is 1 unit length, for the grid vertex i, its position can be expressed as (x i ,y i ), then the distance between any two participating boats can be...
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Abstract
Description
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![application no application](https://static-eureka.patsnap.com/ssr/23.2.0/_nuxt/application.06fe782c.png)
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