复杂三维多面体环境中空地协作追逃问题

Combining the characteristic of unmanned aerial vehicle (UAV) and unmanned ground vehicle (UGV), a UAV/UGV air-ground system and its collaborative pursuit-evasion strategy in a complex 3D polyhedral map is proposed. The structure of the UAV/UGV air-ground system and the pursuit-evasion game is introduced first. Then, the discrete boundary value problem (BVP) is improved and used as move generator. According to the case of that evader knows the position of pursuers at any time but pursuers just have a line-of-sight (LOS) view, the worst case is analyzed for both of players. In the game, evader will try to win the game under the premise of ensuring survival, and the strategy of pursuers is discussed in three situations: one is evader is in the sight of pursuers, one is the position of evader is known by pursuers before a while and the last one is the position of evader is completely unknown to pursuers. The contrastive simulation results show that the method is effective and optimal in the worst case and the influencing factors of the pursuit-evasion result is also analyzed.