A method of encircle tactic based on geometric analysis in Pursuit-evasion Games

In multi-agent system like the pursuit-evasion games(PEGs), when the pursuer tries to capture the evader by encircling it, there should be a method to determine whether the encirclement is situated and therefor form a feedback mechanism to direct latter tactics of pursuers. At present, problems of this kind are solved by the pursuer's "limbs contact" or "attack range", but these methods doesn't take the dynamic characteristic of participants in consideration, which lead no guidance of moving tactics. This passage propose a method based on geometric analysis, consider the velocity of both pursuer and evader, and obtain a method to determine surrounding situation. Present the necessary condition of the formation of encirclement situation, which can be successfully applied in pursuit-evasion games. Furthermore, a task allocation algorithm based on least tactical target point is proposed, which is also of great feasibility.