追逃定性微分对策中界栅的确定

Determination of Barrier in Qualitative Pursuit-Evasion Differential Game

应用定性微分对策理论对无人机、无人车追逃问题进行分析,给出在对局环境中存在障碍物的情况下,躲避区与捕获区分界界栅的确定过程。设置对局场景,建立对局双方的运动学方程,针对双方的运动特性分析结局并得出对局策略。然后考虑讨论环境中障碍物的影响,分析对局终止条件,最终解算出界栅,并给出实例说明。

The qualitative differential game theory is used to study the pursuit-evasion game of Unmanned Aerial Vehicle（ UAV） and Unmanned Ground Vehicle（ UGV）. The process of determining the dividing barrier between the escape area and the capture area in the presence of obstacles in the environment is studied. The scene of the game is set,and the kinematic equations on both sides of the game are established.The outcome of the game is analyzed according to the kinetic characteristics of both sides in order to obtain the game strategy. Then the impact of the obstacles in such environment and the conditions of game termination are analyzed. Finally the barrier is obtained,and an example illustration is given.