无人战车追逃定性微分对策中界栅的确定

Determination of barrier in pursuit-evasion qualitative differential game of unmanned combat vehicle

研究无人战车在无障碍、有障碍两种对局环境中的追逃问题,主要讨论了追逃定性微分对策中界栅的确定。在无障碍条件下,建立对局双方的运动模型,由于两者到达捕获点的时间是相同的,因此可以通过消除时间参数构建界栅。该方法与Isaac提出的构造界栅的经典方法结果一致,并在此基础上分析了躲避区的最大面积。在无人车的实际行驶过程中肯定会受到障碍物的影响,探讨了在有障碍条件下的追逃微分对策界栅的构建。考虑线性障碍物的影响,分析在障碍物存在的条件下双方的等时线分布情况,并提出用等时线的交集确定界栅的方法。

The pursuit-evasion issue of unmanned combat vehicle in the play environments with or without obstacle is studied.The determination of barrier in pursuit-evasion qualitative differential game is mainly discussed in this paper.Under the condition without obstacle,the motion model of game players is established.Since the arriving time of two players to the capture point is the same,the time parameters are eliminated to build the barrier.The result of the method is consistent with that of the classical barrier construction method proposed by Isaac,and on this basis,the maximum area of the evading region is analyzed.In the actual driving process of unmanned combat vehicle,the obstacle will affect the method,so it is necessary to construct the barrier in pursuit-evasion qualitative differential game under the obstacle condition.Considering the influence of linear obstacle,the isochron distribution of players under the obstacle condition is analyzed,and a method is proposed to determine the barrier by means of the intersection of isochrons.