| Autor: |
Huizhen YANG, Jianguo LI, Tianyu WU, Zijiang WANG, Jun YANG |
| Jazyk: |
čínština |
| Rok vydání: |
2024 |
| Předmět: |
|
| Zdroj: |
水下无人系统学报, Vol 32, Iss 4, Pp 730-738 (2024) |
| Druh dokumentu: |
article |
| ISSN: |
2096-3920 |
| DOI: |
10.11993/j.issn.2096-3920.2023-0142 |
| Popis: |
In the scenario where multi-autonomous surface vehicles(ASVs) round up an actively escaped adversarial target, a game model of the multi-ASV cooperative hunting problem was established using differential game theory. A surround term consisting of the escape angle was introduced into the payment function which included the distance cost so that the escape probability of the target was reduced. At the same time, the hunting problem was converted into an optimization problem for solving achievable strategies, and the particle swarm optimization(PSO) algorithm was used to solve the optimal strategy that satisfied the Nash equilibrium. The simulation and lake test results show the effectiveness of the hunting algorithm based on differential game and PSO. |
| Databáze: |
Directory of Open Access Journals |
| Externí odkaz: |
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