Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle

YANG Huizhen; LI Jianguo; WU Tianyu; YANG Jun; WANG Zijiang

doi:10.11993/j.issn.2096-3920.2023-0142

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YANG Huizhen, LI Jianguo, WU Tianyu, YANG Jun, WANG Zijiang. Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0142

Citation:

YANG Huizhen, LI Jianguo, WU Tianyu, YANG Jun, WANG Zijiang. Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle[J]. Journal of Unmanned Undersea Systems. doi: 10.11993/j.issn.2096-3920.2023-0142

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Cooperative Hunting Method for Multiple-Agents Using Differential Games Based on Escape Angle

doi: 10.11993/j.issn.2096-3920.2023-0142

YANG Huizhen^{1, 2},
LI Jianguo^{1, 2},
WU Tianyu^{1, 2},
YANG Jun^{1, 2},
WANG Zijiang^{1, 2}

1.
School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, China
2.
Underwater Information and Control Laboratory, Xi’an 710072, China

Received Date: 2023-11-09
Accepted Date: 2024-02-07
Rev Recd Date: 2023-12-25

Available Online: 2024-03-15

Abstract

Abstract

Aiming at the problem that the adversarial single-target actively escapes, a game model of multi-agent cooperative encirclement problem is established using differential game (DG) theory. Introducing The escape angle correlation term is introduced into the traditional payment function which includes the distance cost such that the escape probability of the target is reduced; At the same time, the encirclement problem is converted into multiple groups of pursuit and escape countermeasures, and Particle Swarm Optimization (PSO) algorithm is used to solve the optimal strategy that satisfies the Nash equilibrium. The simulation results show the effectiveness of the algorithm based on DG-PSO fusion. Then experiments based on multiple autonomous surface vehicles shows that the designed hunting algorithm is effective.
- autonomous surface vehicle,
- differential game,
- cooperative hunting,
- particle swarm optimization

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References(21)

References

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