A cooperative pursuit-evasion game in wireless sensor and actor networks |
| |
Authors: | Jing Yan Xin-ping Guan Xiao-yuan Luo Cai-lian Chen |
| |
Affiliation: | 1. Institute of Electrical Engineering, University of Yanshan, Qinhuangdao, 066004, PR China;2. Department of Automation, Shanghai Jiaotong University, and Key Laboratory of System Control and Information Processing, Ministry of Education of China, Shanghai 200240, PR China |
| |
Abstract: | This paper studies the problem of the pursuit-evasion game under the wireless sensor and actor networks (WSANs). In order to plan paths for pursuers to capture an evader in the pursuit-evasion game, a novel multi-step cooperative strategy is presented. Under this strategy, the pursuit-evasion game is studied in two stages. In the first stage we assume that the evader is always static in the workplace, and in the second stage the evader will move once it senses the existence of pursuers. A Daisy-Chain Formation algorithm and a sliding mode-based method are presented to control the pursuit. Based on Lyapunov stability theory, the proposed algorithm is proved to be convergent. At last, simulation results are provided to demonstrate the effectiveness of the proposed method. |
| |
Keywords: | Pursuit-evasion game Multi-vehicle systems Path planning Wireless sensor and actor networks (WSANs) |
本文献已被 ScienceDirect 等数据库收录! |
|