Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment | |
Liang X(梁宵)1; Wang, Honglun2; Luo HT(骆海涛)3 | |
刊名 | Complexity |
2020 | |
卷号 | 2020页码:1-13 |
ISSN号 | 1076-2787 |
产权排序 | 3 |
英文摘要 | The UAV/UGV heterogeneous system combines the air superiority of UAV (unmanned aerial vehicle) and the ground superiority of UGV (unmanned ground vehicle). The system can complete a series of complex tasks and one of them is pursuit-evasion decision, so a collaborative strategy of UAV/UGV heterogeneous system is proposed to derive a pursuit-evasion game in complex three-dimensional (3D) polygonal environment, which is large enough but with boundary. Firstly, the system and task hypothesis are introduced. Then, an improved boundary value problem (BVP) is used to unify the terrain data of decision and path planning. Under the condition that the evader knows the position of collaborative pursuers at any time but pursuers just have a line-of-sight view, a worst case is analyzed and the strategy between the evader and pursuers is studied. According to the state of evader, the strategy of collaborative pursuers is discussed in three situations: evader is in the visual field of pursuers, evader just disappears from the visual field of pursuers, and the position of evader is completely unknown to pursuers. The simulation results show that the strategy does not guarantee that the pursuers will win the game in complex 3D polygonal environment, but it is optimal in the worst case. |
资助项目 | National Natural Science Foundation of China[61973222] ; National Natural Science Foundation of China[61503255] ; National Natural Science Foundation of China[61906125] ; Natural Science Foundation of Liaoning Province[2019-ZD-0247] ; Program of Liaoning Talents[XLYC1907179] |
WOS关键词 | TARGET-TRACKING ; PATH ; GAME ; LION |
WOS研究方向 | Mathematics ; Science & Technology - Other Topics |
语种 | 英语 |
WOS记录号 | WOS:000559110400007 |
资助机构 | National Natural Science Foundation of ChinaNational Natural Science Foundation of China (NSFC) [61973222, 61503255, 61906125] ; Natural Science Foundation of Liaoning ProvinceNatural Science Foundation of Liaoning Province [2019-ZD-0247] ; Program of Liaoning Talents [XLYC1907179] |
内容类型 | 期刊论文 |
源URL | [http://ir.sia.cn/handle/173321/27484] |
专题 | 沈阳自动化研究所_空间自动化技术研究室 |
通讯作者 | Liang X(梁宵) |
作者单位 | 1.School of Automation, Shenyang Aerospace University, Shenyang 110136, China 2.School of Automation Science and Electrical Engineering, Beihang University, Beijing 100191, China 3.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China |
推荐引用方式 GB/T 7714 | Liang X,Wang, Honglun,Luo HT. Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment[J]. Complexity,2020,2020:1-13. |
APA | Liang X,Wang, Honglun,&Luo HT.(2020).Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment.Complexity,2020,1-13. |
MLA | Liang X,et al."Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment".Complexity 2020(2020):1-13. |
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