Optimal Evasion Strategy of Negotiated Differential Game with Multi-Pursuers
A negotiated differential game optimal evasion strategy for multi pursuit-evasion is proposed for the optimal avoidance in the pursuit-evasion game in capture the flag(CTF).In order to solve this prob-lem,an optimal evasion strategy based on a negotiated differential game is proposed.Firstly,the CTF pur-suit-evasion linear model is established and the model reduced in order.Secondly,regarding the cost func-tion based on the energy constraint and the distance between the two sides at the intersection time,Hamilton function is established.Finally,by applying the Hamilton-Jacobi-Isaacs(H-J-I)equations,the optimal e-vasion strategy based on the negotiated differential game is obtained.The designed strategy is simulated in"two chasing one"and multiplayer pursuit-evasion scenarios.The results show that the flag capture team has the least energy consumption while successfully capturing the flag,which verifies the effectiveness and applicability of the optimal evasion strategy based on a negotiated differential game in this paper.
Aircraft guidanceMulti pursuit-evasionNegotiated differential gameCapture the flag
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