基于动态环境的单个智能入侵者控制模型

CONTROLLING MODEL FOR SINGLE INTELLIGENT INVADER BASED ON DYNAMIC ENVIRONMENT

为解决动态环境下携带任务的单个智能入侵者在敌对区域中实现规避障碍物、逃避防卫者追捕并成功完成任务后逃脱的问题,提出了一种智能入侵者行为控制模型,设计了传感行为、向目标移动、预测动态障碍物、安全行为和优先级执行顺序等策略,最后通过仿真实验统计了在各种围捕策略下单个入侵者任务完成的成功率及相关数据,验证了模型的可行性。

In order to solve the problems brought by single intelligent invader of task cartier in a hostile region such as obstacle avoidance, defender＇ s capture evading arid escaping after successfully accomplishing the mission, an action controlling model for single intelligent invader was proposed, in which the strategies of sensing action, goal-oriented movement, dynamic obstacle prediction, security action and priority execu- ting sequence, etc. , were designed in detail. Finally the rate of task accomplishment by single invader under different capturing strategies and the corresponding data were collected through emulational experiment, and the feasibility of the model was validated as well.