Cooperative strategy for pursuit-evasion problem with collision avoidance

This paper presents a self-organizing cooperative pursuit strategy for multiple unmanned surface vessels (USVs) to pursuit an intelligent evader in the open water. Firstly, the escape strategies of intelligent evaders under different encirclement states and the distribution of pursuers formed according to Apollonius circle are described. Then, in order to achieve the conditions of successful encirclement, a flexible self-organizing cooperation strategy is proposed to form the encirclement formation. In order to better achieve the obstacles encountered in the process of pursuing in the actual environment, the obstacle avoidance methods of irregular obstacles are presented. The simulation results show that the proposed strategy can enable the pursuit USV swarm to capture the intelligent evader, and the pursuit swarm has good obstacle avoidance performance and flexibility.