Collaborative pursuit-evasion game of multi-UAVs based on Apollonius circle in the environment with obstacle

Abstract

In the game of a two-dimensional plane with a circular obstacle, a strategy of multi-pursuers and a single evader is studied. All the agents are Unmanned Aerial Vehicle and the evader is faster than the pursuers. The collaborative pursuit-evasion mission is divided into two stages: the encirclement stage and pursuit-evasion stage. When pursuers fly to the mission area from a distance, the formation and obstacle avoidance method based on leader-follower mode is designed for the encirclement process. In the pursuit-evasion stage, considering obstacle avoidance and manoeuver constraint, a collaborative strategy combining Apollonius circle algorithm and geometric algorithm is proposed, and the condition for the successful capture of a single superior evader is analysed. In the simulation, the influence of obstacle size and manoeuver constraint is compared and analysed in detail, which indicates that they will increase the capture time even changes the result of the game in the limited map. In addition, the complexity of the algorithm is $ \boldsymbol{M} $ times higher than that of the obstacle-free case ( $ \boldsymbol{M} $ is the number of obstacles in the map).

Keywords

• multi-agents collaboration
• pursuit-evasion game
• environment with obstacle
• apollonius circle
• manoeuver constraint