Defense Strategy Under Partial Information in One-Versus-One Reach-Avoid Game

This brief investigates a one-versus-one reach-avoid differential game under the partial information condition, characterized by the pursuer having a finite sensing radius and the evader processing global information. A defense strategy under the partial information is decomposed into a deployment phase and a capture phase. A capture strategy under partial information is first derived by a geometric method, and optimality in the capture phase is established under exact velocity conditions. A winning region under partial information is second constructed by introducing the concepts of the nonsensible region and the pursuit sensing winning region. A deployment strategy under partial information is third obtained by solving the constrained optimization problem of the winning region under partial information. Finally, the theoretical analysis and experimental cases validate the effectiveness of the proposed defense strategy.