追跡回避における確実な捕捉のための協調的非線形誘導戦略
Cooperative Nonlinear Guidance Strategies for Guaranteed Pursuit-Evasion
追跡者・回避者・防御者の三体問題において、回避者と防御者が協調して追跡者を確実に迎撃する幾何学ベースの誘導則を提案し、有限時間収束と初期配置への非依存性を示した。
著者: Saurabh Kumar, Shashi Ranjan Kumar, Abhinav Sinha
分類: eess.SY, cs.MA, cs.RO, cs.SY, math.DS, math.OC
原文アブストラクト
This paper investigates a pursuit-evasion problem involving three agents: a pursuer, an evader, and a defender. Cooperative guidance laws are developed for the evader-defender team that guarantee interception of the pursuer by the defender before it reaches the vicinity of the evader. Unlike heuristic methods, optimal control, differential game formulation, and recently proposed time-constrained guidance techniques, a geometry-based solution is proposed to safeguard the evader from the pursuer's incoming threat. The proposed strategy is computationally efficient and expected to be scalable as the number of agents increases. Another notable feature of the proposed strategy is that the evader-defender team does not require knowledge of the pursuer's strategy, yet the pursuer's interception is guaranteed for arbitrary initial engagement geometries. It is further shown that the relevant error variables for the evader-defender team (or individual) converge to zero at a prespecified finite time that can be exactly prescribed prior to the three-body engagement. Finally, the effectiveness of the proposed cooperative pursuit-evasion strategy is demonstrated through simulations across diverse engagement scenarios.
