Pursuit game decision-making method for pursuer at different speeds

Abstract

The invention provides a pursuit game decision-making method for pursuers at different speeds, and the method comprises a strategy selection method for pursuers and pursuers, can enable game participants to make real-time intelligent decisions for a complex confrontation environment, and improves the team cooperation capability and game confrontation of mobile robots. According to the method, the pursuit game problem when an escaper has the speed advantage and pursuers have the number advantage is considered, the characteristics and composition conditions of a perfect surrounding formation (PEF) of the pursuers are introduced, and an escape strategy when the escaper is trapped in the perfect surrounding formation is analyzed from the nature of the perfect surrounding formation; the method is simple, convenient and visual, and successful escape can be ensured; the pursuit game problem when pursuers have the speed and number advantages is considered, the pursuers are classified into three types of trappers, interceptors and players according to the influence capacity of the trappers on the safety area, strategy selection of the pursuers and the pursuers is analyzed on the basis, and the pursuit time of the pursuers can be optimized.

Description

technical field [0001] The invention relates to the game problem of pursuit and escape, in particular to a decision-making method for the pursuit and escape game at different speeds of the pursuer. Background technique [0002] The chasing and fleeing problem of mobile robots is a classic problem in the field of control. This kind of problem mainly considers that a group of hunters cooperate with each other to capture another group of escapers, and simulate the real chasing and fleeing process through the confrontation between agents. . The research results of multi-robot pursuit and escape have very broad application prospects in many fields. In the industrial field, the scheduling of industrial products is studied by establishing a chasing and fleeing model, so as to optimize the efficiency of the assembly line. The problem of chasing and fleeing can also be applied in the aerospace field, such as cleaning up space junk, docking and intercepting spacecraft and other task...

AI Technical Summary

Problems solved by technology

However, most of the existing Apollonian circle geometry methods are discussed from a certain angle of the pursuer or the escaper, and can only give a unilateral decision, and cannot involve the strategy selection methods of both parties at the same time, and the method is not complete.

[0009] In addition, in the existing decision-making methods, the influence of the border on the chasing and fleeing problem is not considered, which makes it inapplicable in many practical situations.

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