Strategies of Pursuit-Evasion Game Based on Improved Potential Field and Differential Game Theory for Mobile Robots

被引:12
作者
Dong, Jie [1 ]
Zhang, Xu [1 ]
Jia, Xuemei [1 ]
机构
[1] Univ Sci & Technol Beijing, Dept Automat, Beijing 100083, Peoples R China
来源
PROCEEDINGS OF THE 2012 SECOND INTERNATIONAL CONFERENCE ON INSTRUMENTATION & MEASUREMENT, COMPUTER, COMMUNICATION AND CONTROL (IMCCC 2012) | 2012年
关键词
Nash equilibrium; differential game theory; the optimal path; pursuit-evasion game;
D O I
10.1109/IMCCC.2012.340
中图分类号
TP301 [理论、方法];
学科分类号
081202 ;
摘要
In this paper, in view of the current existing problem of algorithm for pursuit-evasion game, such as computational complexity and lack of universality, we firstly propose a hybrid algorithm based on improved dynamic artificial potential field and differential game. According to the changes of environment around the pursuer and evader the algorithm applies flexibly. Simulation results show that the algorithm not only has the simple structure of the artificial potential field model, which can be effective in the pursuit path planning to avoid obstacles, but also can avoid deadlock problem after the improvement. Moreover, Nash equilibrium solution is optimal for both pursuer and evader in barrier-free zone in pursuit-evasion game.
引用
收藏
页码:1452 / 1456
页数:5
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