Control Barrier Function Based Cooperative Pursuit with Multi-Pursuer and One Free-Moving Evader

被引：0

作者：

Shen, Jiajun ^{[1
]}

Ze, Kunrui ^{[1
]}

Wang, Wei ^{[1
,2
]}

机构：

[1] Beihang Univ, Sch Automat Sci & Elect Engn, Beijing, Peoples R China

[2] Zhongguancun Lab, Beijing, Peoples R China

来源：

2024 IEEE 19TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS, ICIEA 2024 | 2024年

基金：

中国国家自然科学基金;

关键词：

Cooperative pursuit; control barrier function; pursuit-evasion game; multi-agent system; NONLINEAR-SYSTEMS; EVASION GAMES; AGENTS;

D O I：

10.1109/ICIEA61579.2024.10664853

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper, a control barrier function (CBF) based distributed cooperative pursuit control scheme is proposed for a group of pursuers to capture one free-moving evader. The pursuers can capture the evader within a shorter time interval than the case of one pursuer, while guaranteeing it to be encircled all the time. A sufficient condition for successful encircling is presented, which is related to the initial relative positions and the speed ratios of the pursuers and evader. The proposed scheme can be implemented in a distributed manner without utilizing a global coordinate system. Simulation results are presented to demonstrate effectiveness of the proposed scheme.

引用

页数：6

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