三维空间"追-逃-防"三方微分对策方法

The pursuit-evasion game of multiple-agent in three-dimensional space is studied. A pursuit-evasion game model based on three agents including the pursuer, the evader and the defender is proposed. In this model, the dimension and the calculation complexity of the system is reduced by employing zero effort miss method. The objective function of the pursuer is designed by using fuzzy comprehensive evaluation. Combined with differential game theory, the optimal control strategy of pursuer is obtained. The comparative simulation results show that the proposed optimal control strategies can let the pursuer avoid the defender and intercept the evader when the controlled quantity of pursuer is more predominant. When the controlled quantity of pursuer is less predominant, the proposed optimal control strategies can increase the interception time of the pursuer.