水下无人系统学报2024，Vol.32Issue(4)：730-738,9.DOI:10.11993/j.issn.2096-3920.2023-0142
基于逃逸角的多ASV微分博弈协同围捕方法
Cooperative Hunting Method for Multiple ASVs Using Differential Games Based on Escape Angle
摘要
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.关键词
自主水面航行器/微分博弈/协同围捕/粒子群优化Key words
autonomous surface vehicle/differential game/cooperative hunting/particle swarm optimization分类
军事科技引用本文复制引用
杨惠珍,李建国,吴天宇,王子江,杨钧..基于逃逸角的多ASV微分博弈协同围捕方法[J].水下无人系统学报,2024,32(4):730-738,9.基金项目
水下信息与控制重点实验室基金项目资助(2021-JCJQ-LB-030-03). （2021-JCJQ-LB-030-03）
