Hybrid Method Based on Artificial Potential Field and Differential Game Theory for the UAV Path Planing

2014 ◽  
Vol 687-691 ◽  
pp. 260-264
Author(s):  
Feng Tian ◽  
Ji Feng Zou ◽  
Tong Zhang
Keyword(s):  
Game Theory ◽  
Differential Game ◽  
Potential Field ◽  
Artificial Potential Field ◽  
Complex Environment ◽  
Pursuit Evasion ◽  
Differential Game Theory ◽  
Evasion Game ◽  
Simulation Results ◽  
Dynamic Path

In this paper, a method of the UAV path planing in the complex environment by using artificial potential field and differential game theory is introduced. This article studies the pursuit evasion game of the dynamic path planing for the UAV. The fly zone of either the pursuer or the evader is divided into two categories, namely the obstacle areas and the obstacle-free areas. So we can use the artificial potential field in the obstacle areas,and we use differential game theory in the obstacle-free areas for the UAV. This method can apply to pursuit-evasion game in the complex environment for the UAV path planing.Not only the UAV can avoid obstacles but also they can find the best capture path.Finally,the simulation results verify its correctness and validity .

The Simulation of the UAV Collision Avoidance Based on the Artificial Potential Field Method

2012 ◽  
Vol 591-593 ◽  
pp. 1400-1404 ◽  
Author(s):  
Jian Ying Liu ◽  
Zi Qi Guo ◽  
Shi Yue Liu
Keyword(s):  
Potential Field ◽  
Field Method ◽  
Artificial Potential Field ◽  
Lyapunov Theorem ◽  
Balance Point ◽  
Dynamic Path Planning ◽  
Simulation Results ◽  
Dynamic Path ◽  
Artificial Potential Field Method ◽  
Better Than

To deal with dynamic path planning of unmanned aerial vehicles(uav) in the complicated 3-D environment, a new method that combines the Lyapunov theorem with the artificial potential is proposed. The mission region is described as the artificial potential field. In this paper, it proves that the balance point is a saddle point, only when uav reaches the target, the balance point is stable, the rest of the balance point are divergent, so uav can escape the minimum point as soon as possible. The simulation results show that this proposed method can effectively make uav avoid collision, and escape well the local minimum value point. The optimization results are better than the simplex artificial potential field, and have better optimization precision and tracing speed.

scholarly journals A New Decentralized Approach of Multiagent Cooperative Pursuit Based on the Iterated Elimination of Dominated Strategies Model

2016 ◽  
Vol 2016 ◽  
pp. 1-11 ◽  
Author(s):  
Mohammed El Habib Souidi ◽  
Songhao Piao
Keyword(s):  
Game Theory ◽  
Coalition Formation ◽  
Decision Process ◽  
Pursuit Evasion ◽  
Dominated Strategies ◽  
Markov Decision ◽  
Simulation Results ◽  
The Given ◽  
Dynamic Formation ◽  
Motion Strategy

Game Theory is a promising approach to acquire coalition formations in multiagent systems. This paper is focused on the importance of the distributed computation and the dynamic formation and reformation of pursuit groups in pursuit-evasion problems. In order to address this task, we propose a decentralized coalition formation algorithm based on the Iterated Elimination of Dominated Strategies (IEDS). This Game Theory process is common to solve problems requiring the withdrawal of dominated strategies iteratively. Furthermore, we have used the Markov Decision Process (MDP) principles to control the motion strategy of the agents in the environment. The simulation results demonstrate the feasibility and the validity of the given approach in comparison with different decentralized methods.

scholarly journals Evasion-Pursuit Strategy against Defended Aircraft Based on Differential Game Theory

2019 ◽  
Vol 2019 ◽  
pp. 1-12
Author(s):  
Qilong Sun ◽  
Minghui Shen ◽  
Xiaolong Gu ◽  
Kang Hou ◽  
Naiming Qi
Keyword(s):  
Game Theory ◽  
Differential Game ◽  
Optimal Strategies ◽  
Open Loop ◽  
Active Defense ◽  
Guidance Law ◽  
Optimal Guidance ◽  
Differential Game Theory ◽  
One To One ◽  
The One

The active defense scenario in which the attacker evades from the defender and pursues the target is investigated. In this scenario, the target evades from the attacker, and the defender intercepts the attacker by using the optimal strategies. The evasion and the pursuit boundaries are investigated for the attacker when the three players use the one-to-one optimal guidance laws, which are derived based on differential game theory. It is difficult for the attacker to accomplish the task by using the one-to-one optimal guidance law; thus, a new guidance law is derived. Unlike other papers, in this paper, the accelerations of the target and the defender are unknown to the attacker. The new strategy is derived by linearizing the model along the initial line of sight, and it is obtained based on the open-loop solution form as the closed-loop problem is hard to solve. The results of the guidance performance for the derived guidance law are presented by numerical simulations, and it shows that the attacker can evade the defender and intercept the target successfully by using the proposed strategy.

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