Multiplayer Obstacle Avoidance Pursuit-Evasion Games With Adaptive Parameter Estimation

Abstract

This paper investigates a class of multi-player obstacle avoidance pursuit-evasion games with intra coalition cooperation and inter coalition confrontation (ICCICC). In order to obtain distributed control strategy, a communication topology graph is utilized to quantify the interactions of the players. The solutions of the Hamilton-Jacobi-Isaacs (HJI) equations of the pursuit-evasion games are employed to calculate Nash equilibrium (NE) of the players. An adaptive method is utilized to obtain opponent’s control parameters for updating multiple distributed control strategy. Moreover, the sufficient condition is provided to guarantee stability of multi-player pursuit-evasion (MPPE) game system with adaptive estimation. Finally, an MPPE game experiment with two evaders and two pursuers is carried out to demonstrate the effectiveness of the proposed methodology.