追求者
追逃
启发式
计算机科学
非线性系统
控制理论(社会学)
控制(管理)
微分博弈
观察员(物理)
逃避(道德)
数学优化
人工智能
数学
物理
免疫系统
量子力学
免疫学
生物
作者
Abhinav Sinha,Shashi Ranjan Kumar,Dwaipayan Mukherjee
标识
DOI:10.1007/s10846-022-01570-y
摘要
This paper considers a pursuit-evasion scenario among three agents– an evader, a pursuer, and a defender. We design cooperative guidance laws for the evader and the defender team to safeguard the evader from an attacking pursuer. Unlike differential games, optimal control formulations, and other heuristic methods, we propose a novel perspective on designing effective nonlinear feedback control laws for the evader-defender team using a time-constrained guidance approach. The evader lures the pursuer on the collision course by offering itself as bait. At the same time, the defender protects the evader from the pursuer by exercising control over the engagement duration. Depending on the nature of the mission, the defender may choose to take an aggressive or defensive stance. Such consideration widens the applicability of the proposed methods in various three-agent motion planning scenarios such as aircraft defense, asset guarding, search and rescue, surveillance, and secure transportation. We use a fixed-time sliding mode control strategy to design the control laws for the evader-defender team and a nonlinear finite-time disturbance observer to estimate the pursuer’s maneuver. Finally, we present simulations to demonstrate favorable performance under various engagement geometries, thus vindicating the efficacy of the proposed designs.
科研通智能强力驱动
Strongly Powered by AbleSci AI