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

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

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

Volume 32 Issue 4

Aug 2024

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Article Navigation > Journal of Unmanned Undersea Systems > 2024 > 32(4): 730-738

YANG Huizhen, LI Jianguo, WU Tianyu, WANG Zijiang, YANG Jun. Cooperative Hunting Method for Multiple ASVs Using Differential Games Based on Escape Angle[J]. Journal of Unmanned Undersea Systems, 2024, 32(4): 730-738. doi: 10.11993/j.issn.2096-3920.2023-0142

Citation:

YANG Huizhen, LI Jianguo, WU Tianyu, WANG Zijiang, YANG Jun. Cooperative Hunting Method for Multiple ASVs Using Differential Games Based on Escape Angle[J]. Journal of Unmanned Undersea Systems, 2024, 32(4): 730-738. doi: 10.11993/j.issn.2096-3920.2023-0142

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Cooperative Hunting Method for Multiple ASVs 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
,},
WANG Zijiang^{1, 2
,},
YANG Jun^{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

In the scenario where multi-autonomous surface vehicles(ASVs) round up an actively escaped adversarial target, a game model of the multi-ASV cooperative hunting problem was established using differential game theory. A surround term consisting of the escape angle was introduced into the payment function which included the distance cost so that the escape probability of the target was reduced. At the same time, the hunting problem was converted into an optimization problem for solving achievable strategies, and the particle swarm optimization(PSO) algorithm was used to solve the optimal strategy that satisfied the Nash equilibrium. The simulation and lake test results show the effectiveness of the hunting algorithm based on differential game and PSO.
- autonomous surface vehicle,
- differential game,
- cooperative hunting,
- particle swarm optimization

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References(21)

References

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