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首页> 外文期刊>Journal of Intelligent & Robotic Systems: Theory & Application >Multiagent Pursuit-Evasion Problem with the Pursuers Moving at Uncertain Speeds
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Multiagent Pursuit-Evasion Problem with the Pursuers Moving at Uncertain Speeds

机译：追求追求速度的多元追求逃避问题

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The multiagent pursuit-evasion problems have been widely investigated in related areas. Previous studies usually assumed that the pursuers move at certain speeds. However, in many circumstances the above assumption does not match the peculiarities of real pursuit-evasion cases in which the pursuers' speeds may be uncertain. Therefore, this paper investigates the multiagent pursuit-evasion problem under the situation in which the pursuers move at uncertain speeds. The new problems of multiagent pursuit-evasion caused by the uncertainty of the pursuers' speeds include: 1) many previous strategies plan pursuers' paths based on their speeds, but the uncertainty of speeds will make the pursuers move to worthless target points; 2) previous strategies usually let each pursuer move to a scheduled location, but the uncertainty of speeds may make some pursuers fail to reach the scheduled locations punctually. Aiming at addressing these problems, we present the strategy which lets each pursuer flexibly help the slow neighboring pursuer. As the pursuers' speeds are uncertain, the optimal decision of pursuers cannot be calculated directly. Thus, we analyze the alternative decision space of pursuers, which contains the decisions that may be optimal and does not contain the obviously bad decisions (such as moving away from the evader). Then, we compare the decisions in the alternative decision space based on simulated annealing resulting that the optimal decision may be selected after repeatedly comparing different decisions. The experimental results show that our strategy can generally outperform previous strategies when the pursuers' speeds are uncertain.
机译：多元追求逃避问题已被广泛调查相关领域。以前的研究通常认为追求者以一定的速度移动。然而，在许多情况下，上述假设与实际追踪逃避案件的特性不符，其中追求速度可能不确定。因此，本文调查了追求以不确定速度迁移的情况下的多元追求逃避问题。追求速度不确定性造成的多层追求逃避的新问题包括：1）许多以前的战略计划追求的追踪速度，但速度的不确定性将使追求者转移到无价值的目标点; 2）以前的策略通常让每个追求者搬到预定的位置，但速度的不确定性可能会使一些追求者无法准时到达预定的位置。旨在解决这些问题，我们展示了让每个追求者灵活地帮助缓慢邻居追求的策略。随着追求者的速度不确定，追求者的最佳决策不能直接计算。因此，我们分析了追求者的替代决策空间，其中包含可能是最佳的决定，并且不包含明显的错误决策（例如远离避难者）。然后，我们基于模拟退火比较替代决策空间中的决定，从而可以在重复比较不同的决定之后选择最佳决定。实验结果表明，当追求者的速度不确定时，我们的策略通常可以胜过以前的策略。

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