仿鹰鸽捕食逃逸行为的多无人机分组对抗博弈方法

In this paper, to solve the problem of multi-unmanned aerial vehicle (UAV) confrontation, a multi-UAV confrontation game system is established and a multi-UAV grouping confrontation game method is proposed in three-dimensional space. The multi-UAV confrontation game system model and the continuous differentiable value function in the differential games are defined, and it is proved that the value function satisfies the Hamiltonian-Jacobi-Isaacs (HJI) equation ensurings that the saddle point strategy exists. For the problem of multi-UAV confrontation, a grouping assignment strategy is designed to solve the task assignment problem in the scenario. Comparative simulation results verified the effectiveness of the proposed method in solving the multi-UAV confrontation game problem.