论文标题
合作追求与多助手和一个更快的自由移动逃避者
Cooperative Pursuit with Multi-Pursuer and One Faster Free-moving Evader
论文作者
论文摘要
本文介绍了一个多人的单驱动追求逃避游戏，其中自由移动的逃避者的移动速度比追随者快。大多数现有作品都对更快的逃避者（例如有限的移动区域和移动方向）施加限制。当允许更快的逃避者自由移动而无需任何限制时，主要问题是如何形成包围以将逃避者捕获到捕获域中，如何在形成包围和接近更快的逃避者之间保持平衡，以及什么条件使捕获使捕获成为可能。在本文中，提出了分布式的追求算法，以使追随者能够形成一个包围并更快地接近逃避者。提出了一种在形成包围和接近更快的逃避者之间平衡的算法。此外，根据初始空间分布以及追随者和逃避者的速度比率得出了足够的捕获条件。对地面机器人的仿真和实验结果验证了所提出方法的有效性和实用性。
This paper addresses a multi-pursuer single-evader pursuit-evasion game where the free-moving evader moves faster than the pursuers. Most of the existing works impose constraints on the faster evader such as limited moving area and moving direction. When the faster evader is allowed to move freely without any constraint, the main issues are how to form an encirclement to trap the evader into the capture domain, how to balance between forming an encirclement and approaching the faster evader, and what conditions make the capture possible. In this paper, a distributed pursuit algorithm is proposed to enable pursuers to form an encirclement and approach the faster evader. An algorithm that balances between forming an encirclement and approaching the faster evader is proposed. Moreover, sufficient capture conditions are derived based on the initial spatial distribution and the speed ratios of the pursuers and the evader. Simulation and experimental results on ground robots validate the effectiveness and practicability of the proposed method.
