首页|Equilibrium Strategy of the Pursuit-Evasion Game in Three-Dimensional Space
Equilibrium Strategy of the Pursuit-Evasion Game in Three-Dimensional Space
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The pursuit-evasion game models the strategic inter-action among players,attracting attention in many realistic sce-narios,such as missile guidance,unmanned aerial vehicles,and target defense.Existing studies mainly concentrate on the cooper-ative pursuit of multiple players in two-dimensional pursuit-eva-sion games.However,these approaches can hardly be applied to practical situations where players usually move in three-dimen-sional space with a three-degree-of-freedom control.In this paper,we make the first attempt to investigate the equilibrium strategy of the realistic pursuit-evasion game,in which the pursuer fol-lows a three-degree-of-freedom control,and the evader moves freely.First,we describe the pursuer's three-degree-of-freedom control and the evader's relative coordinate.We then rigorously derive the equilibrium strategy by solving the retrogressive path equation according to the Hamilton-Jacobi-Bellman-Isaacs(HJBI)method,which divides the pursuit-evasion process into the navigation and acceleration phases.Besides,we analyze the maxi-mum allowable speed for the pursuer to capture the evader suc-cessfully and provide the strategy with which the evader can escape when the pursuer's speed exceeds the threshold.We fur-ther conduct comparison tests with various unilateral deviations to verify that the proposed strategy forms a Nash equilibrium.
Differential gameequilibrium strategypursuit-eva-sion gamethreedegree-of-freedom control
Nuo Chen、Linjing Li、Wenji Mao
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School of Artificial Intelligence,University of Chinese Academy of Sciences,Beijing 100049,Institute of Automation,Chinese Academy of Sciences,Beijing 100190,China
Strategic Priority Research Program of Chinese Academy of SciencesNational Natural Science Foundation of ChinaNational Natural Science Foundation of China
Nuo Chen,Linjing Li,Wenji Mao.Equilibrium Strategy of the Pursuit-Evasion Game in Three-Dimensional Space[J].自动化学报(英文版),2024,11(2):446-458.DOI:10.1109/JAS.2023.123996.
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