追逃博弈问题研究综述  

A Review of Research on Pursuit-evasion Games

作　　者：迟嵩禹 李帅 王晨[1,2] 谢广明 CHI Song-Yu;LI Shuai;WANG Chen;XIE Guang-Ming(Intelligent Biomimetic Design Laboratory,College of Engineering,Peking University,Beijing 100871;National Engineering Research Center of Software Engineering,Peking University,Beijing 100871;Institute of Ocean Research,Peking University,Beijing 100871)

机构地区：[1]北京大学工学院智能仿生设计实验室,北京100871 [2]北京大学软件工程国家工程研究中心,北京100871 [3]北京大学海洋研究院,北京100871

出　　处：《自动化学报》2025年第4期705-726,共22页Acta Automatica Sinica

基　　金：国家自然科学基金(12272008,U22A2062,U23B2037)资助。

摘　　要：作为多智能体对抗博弈问题的重要分支,追逃博弈(Pursuit-evasion,PE)问题在控制和机器人领域得到广泛应用,受到众多研究者的密切关注.追逃博弈问题主要聚焦于追逐者和逃跑者双方为实现各自目标而展开的动态博弈:追逐者试图在最短时间内抓到逃跑者,逃跑者的目标则是避免被捕获.本文概述追逃博弈问题的相关研究进展,从空间环境、信息获取等五个方面介绍追逃博弈问题的各类设定;简述理论求解、数值求解等四种当下主流的追逃博弈问题求解方法.通过对现有研究的总结和分析,给出几点研究建议,对未来追逃博弈问题的发展具有一定指导意义.As an important branch of multi-agent adversarial games,pursuit-evasion(PE)games have found widespread applications in the fields of control and robotics,attracting considerable attention from researchers.PE games primarily focus on the dynamic games between pursuer and evader,each striving to achieve their respective objectives:The pursuer aims to capture the evader as quickly as possible,while the evader's goal is to avoid capture.This article provides an overview of the research progress in PE games,and introduces various settings of PE games across five key dimensions,including spatial environment,information acquisition,and so on.It briefly describes four mainstream methods for solving PE games,including theoretical approaches,numerical approaches,and so on.By summarizing and analyzing existing researches,this article offers several research suggestions,which are expected to provide significant guidance for future developments in PE games.

关 键 词：追逃博弈问题 多智能体 对抗博弈 微分对策 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]