TY - GEN
T1 - Cooperative Pursuit in a Non-closed Bounded Domain
AU - Xing, Yahong
AU - Dong, Gangqi
AU - Ma, Zhiqiang
AU - Huang, Panfeng
N1 - Publisher Copyright:
© 2022 IEEE.
PY - 2022
Y1 - 2022
N2 - This paper considers a multi-agent pursuit-evasion game in a bounded domain with multiple exits and obstacles. First, the problem modeling is performed, and the control strategy of the evaders is assumed. Then, based on Voronoi partition and potential field gradient, a pursuit strategy for N-pursuer/M-evader in the non-closed bounded domain is proposed, where the pursuers are classified into three autonomous switchable categories: the goalkeeper, the striker and the defender. The proposed strategy is a low-dimensional algorithm, which can greatly reduce computational costs. Finally, the feasibility and effectiveness are demonstrated by numerical case studies.
AB - This paper considers a multi-agent pursuit-evasion game in a bounded domain with multiple exits and obstacles. First, the problem modeling is performed, and the control strategy of the evaders is assumed. Then, based on Voronoi partition and potential field gradient, a pursuit strategy for N-pursuer/M-evader in the non-closed bounded domain is proposed, where the pursuers are classified into three autonomous switchable categories: the goalkeeper, the striker and the defender. The proposed strategy is a low-dimensional algorithm, which can greatly reduce computational costs. Finally, the feasibility and effectiveness are demonstrated by numerical case studies.
KW - multi-agent systems
KW - non-closed bounded domain
KW - potential field gradient
KW - Pursuit-evasion games
KW - Voronoi partition
UR - http://www.scopus.com/inward/record.url?scp=85149441050&partnerID=8YFLogxK
U2 - 10.1109/ICARCE55724.2022.10046568
DO - 10.1109/ICARCE55724.2022.10046568
M3 - 会议稿件
AN - SCOPUS:85149441050
T3 - 2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022
BT - 2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Conference on Automation, Robotics and Computer Engineering, ICARCE 2022
Y2 - 16 December 2022 through 17 December 2022
ER -