多人追逃的协商微分对策最优躲避策略  

Optimal Evasion Strategy of Negotiated Differential Game with Multi-Pursuers

作　　者：赵燊佳 张海瑞[1] 梁卓[1] 吕瑞 涂海峰 ZHAO Shenjia;ZHANG Hairui;LIANG Zhuo;LYU Rui;TU Haifeng(China Academy of Launch Vehicle Technology,Beijing 100076,China)

机构地区：[1]中国运载火箭技术研究院,北京100076

出　　处：《航天控制》2024年第2期48-54,共7页Aerospace Control

摘　　要：针对夺旗运动中追逃博弈的最优躲避问题,提出了一种多人追逃的协商微分对策最优躲避策略。首先,建立夺旗追逃线性化模型,并对模型进行降阶。其次,考虑能量约束和交汇时刻博弈双方距离的代价函数,构造了哈密顿函数。最后,利用Hamilton-Jacobi-Isaacs(H-J-I)方程组,求解得到了协商微分对策最优躲避策略。对所设计最优躲避策略进行了“二追一”仿真和多层追捕仿真,结果表明夺旗一方的队员成功夺旗的同时能量消耗最小,验证了本文提出协商微分对策躲避策略的有效性和适用性。A negotiated diferential game optimal evasion strategy for multi pursuit-evasion is proposed for the optimal avoidance in the pursuit-evasion game in capture the flag(CTF).In order to solve this problem,an optimal evasion strategy based on a negotiated differential game is proposed.Firstly,the CTF pursuit-evasion linear model is established and the model reduced in order.Secondly,regarding the cost function based on the energy constraint and the distance between the two sides at the intersection time,Hamilton function is established.Finally,by applying the Hamilton-Jacobi-Isaacs(H-J-I)equations,the optimal evasion strategy based on the negotiated differential game is obtained.The designed strategy is simulated in"two chasing one"and multiplayer pursuit-evasion scenarios.The results show that the flag capture team has the least energy consumption while successfully capturing the flag,which verifies the efectiveness and applicability of the optimal evasion strategy based on a negotiated differential game in this paper.

关 键 词：飞行器制导 多人追逃博弈 协商微分对策 夺旗 

分 类 号：V279[航空宇航科学与技术—飞行器设计]