障碍环境下基于生物捕食逃逸行为的多运动体边界防御博弈方法

The pursuit-evasion and reach-avoid problems based on differential games are the key problems of multi-agent confrontation control. This paper studies a multi-agent border defense differential game in a bounded area with a line obstacle. First, by analyzing the predation and escape behavior of creatures in nature, the multi-agent border defense differential game system is modeled, and the game termination conditions and value functions are obtained in different situations. Second, this paper analyzes the dominance regions and barrier surfaces of the game in the presence of a line obstacle and compares it with the obstacle-free situation. Finally, numerical simulations show that the proposed method satisfies the conditions of the saddle-point strategy in the differential game and verify the effectiveness of the proposed method.