Group robot pursuit-evasion problem based on game theory

摘要

Group robot pursuit-evasion problem is considered as a dispersed dynamic game problem with two players. The threat assessment function is constructed with the distance influence, movement influence, effective encirclement influence considered. The payoff matrix of the pursuer is got by calculating the threat value under different strategies.The optimal strategy for each movement is obtained by resolving the payoff matrix. The mathematical model used for strategy selection and real-time strategy selection is presented. Simulation experiment results show the feasibility of the model and algorithm.