控制理论与应用2024，Vol.41Issue(5)：855-865,11.DOI:10.7641/CTA.2023.20194
仿鹰鸽捕食逃逸行为的多无人机分组对抗博弈方法
Multi-UAV grouping confrontation game method imitating the pursuit evasion behavior of eagles and pigeons
摘要
Abstract
In this paper,to solve the problem of multi-unmanned aerial vehicle(UAV)confrontation,a multi-UAV con-frontation game system is established and a multi-UAV grouping confrontation game method is proposed in three-dimen-sional space.The multi-UAV confrontation game system model and the continuous differentiable value function in the differential games are defined,and it is proved that the value function satisfies the Hamiltonian-Jacobi-Isaacs(HJI)equation ensurings that the saddle point strategy exists.For the problem of multi-UAV confrontation,a grouping assignment strategy is designed to solve the task assignment problem in the scenario.Comparative simulation results verified the effectiveness of the proposed method in solving the multi-UAV confrontation game problem.关键词
多无人机对抗/微分博弈/任务分配/捕食逃逸/鞍点策略Key words
multi-UAV confrontation/differential games/task allocation/pursuit evasion/saddle point strategy引用本文复制引用
仝秉达,段海滨,魏晨..仿鹰鸽捕食逃逸行为的多无人机分组对抗博弈方法[J].控制理论与应用,2024,41(5):855-865,11.基金项目
科技创新2030-"新一代人工智能"重大项目(2018AAA0100803),国家自然科学基金项目(U20B2071,91948204,T2121003)资助.Supported by the Science and Technology Innovation 2030-Key Project of"New Generation Artificial Intelligence"(2018AAA0100803)and the National Natural Science Foundation of China(U20B2071,91948204,T2121003). （2018AAA0100803）
