Collaborative pursuit-evasion game of multi-UAVs based on Apollonius circle in the environment with obstacle

Figures & data

Figure 1. Description of the mission.

Figure 2. Apollonius circle.

Figure 3. Position of the pursuer and the evader.

Figure 4. Unenclosed state.

Figure 5. Semi-enclosed state.

Figure 6. Fully enclosed state.

Figure 7. Strategy of the pursuers.

Figure 8. UAV obstacle avoidance diagram.

Figure 9. Turning angle of UAV.

Figure 10. Flow chart of the pursuit-evasion strategy.

Figure 11. Encirclement process when the evader is stationary.

Figure 12. Encirclement process when the evader moves.

Figure 13. The evader escapes from the gap.

Figure 14. The evader is captured by the pursuers.

Table 1. Simulation results of different pursuer’s velocity.

Initial position (m)	$V_e(m/s)$	$V_p(m/s)$	Winner	Capture time(s)
$E$  = [325.7;305.5]	4	2.2	evader	∞
$P_1$ = [203.6;493.5]	4	2.6	evader	∞
$P_2$ = [400.6;336.0]	4	3.0	pursuers	75
$P_3$ = [350.9;250.9]	4	3.4	pursuers	70
$P_4$ = [106.9;150.6]	4	3.8	pursuers	64

Figure 15. Simulation results.

Table 2. Comparison of capture time of different algorithms.

Algorithm	Maximum turning angle of pursuers’ path	Capture time	Average path length of pursuers
I	45°	64s	239.56m
II	129°	77s	288.80m
III	56°	83s	316.13m
IV	129°	92s	334.76m

Figure 16. Influence when the radius of obstacle is R=30m.