Target Defense Game with Limited Sensing Range

This paper studies the target defense game with an attacker and a defender. The attacker is supposed to act wisely, deciding its strategy based on that of the defender. However, the defender is required to act before the attacker, and its sensing is constrained to a circular region whose radius equals to the distance to the attacker over time. In order to ensure the attacker to stay within the sensing range, the critical pursuit angle is calculated and compared to its maximum value. Based on the critical pursuit angle and Apollonius circle, the optimal interception strategy for defender is proposed. Finally, simulation results are provided to demonstrate the effectiveness of the proposed strategy.