自動砲塔を攻撃するドローンの追跡と回避
The Pursuit and Evasion of Drones Attacking an Automated Turret
防御用砲塔と複数の攻撃ドローンの追跡回避問題を2Dから3Dへと解析し、ドローンが砲塔に到達または回避できる領域と最適な初期配置を明らかにした。
著者: Daniel Biediger, Luben Popov, Aaron T. Becker
分類: cs.RO
原文アブストラクト
This paper investigates the pursuit-evasion problem of a defensive gun turret and one or more attacking drones. The turret must ``visit" each attacking drone once, as quickly as possible, to defeat the threat. This constitutes a Shortest Hamiltonian Path (SHP) through the drones. The investigation considers situations with increasing fidelity, starting with a 2D kinematic model and progressing to a 3D dynamic model. In 2D we determine the region from which one or more drones can always reach a turret, or the region close enough to it where they can evade the turret. This provides optimal starting angles for $n$ drones around a turret and the maximum starting radius for one and two drones. We show that safety regions also exist in 3D and provide a controller so that a drone in this region can evade the pan-tilt turret. Through simulations we explore the maximum range $n$ drones can start and still have at least one reach the turret, and analyze the effect of turret behavior and the drones' number, starting configuration, and behaviors.
