基于对策论的群机器人追捕-逃跑问题研究

Group robot pursuit-evasion problem based on game theory

将群机器人追捕-逃跑问题看成具有两个局中人的离散动态对策问题,考虑了距离影响、走步影响、有效包围3个因素,构造出威胁评估函数,通过计算各种可能的策略下追捕者对逃跑者的威胁值得到追捕者的支付矩阵,求解该矩阵即可得到每次走步时对抗双方的最优走步策略.以此作为双方策略选择的数学模型,并在此基础上提出了实时策略选择算法.仿真试验结果验证了该模型和算法的可行性.

Group robot pursuit-evasion problem is considered as a dispersed dynamic game problem with two players. The threat assessment function is constructed with respect to the influences of distance, movement and effective encirclement. The payoff matrix of the pursuer is got by calculating the threat value under different strategies. The optimal strategy for each movement is obtained by resolving the payoff matrix. The mathematical model for strategy selection and real-time strategy selection is presented. Simulation experiment results show the feasibility of the model and algorithm.