3-D Multi-player Pursuit-evasion Game with a Faster Evader
作者单位：School of Electrical and Electronic Engineering Nanyang Technological University Department of Control Science and Engineering Tongji University Shanghai Research Institute for Intelligent Autonomous System Tongji University
会议名称：《第三十九届中国控制会议》
会议日期：2020年
学科分类：0711[理学-系统科学] 07[理学] 08[工学] 081101[工学-控制理论与控制工程] 0811[工学-控制科学与工程] 071102[理学-系统分析与集成] 081103[工学-系统工程]
关 键 词：3-D Space Pursuit-evasion Game Faster Evader Unknown Moving Direction
摘 要：This paper studies two kinds of multi-player pursuit-evasion games in 3-D space: Two-pursuer one-evader game and multi-pursuer one-evader game. The main challenges are that the evader has faster speed than a group of pursuers and the moving directions of the pursuers and faster evader are unknown to each other. First, the concept of occupied angle is introduced to represent the dominated spaces by the pursuers. Then, escape algorithm and pursuit algorithm are designed for the evader and pursuers, respectively. Finally, escape condition and capture condition of the faster evader and pursuers are presented. Some simulation examples are given to illustrate the theoretical results.