A Heuristic Task Scheduling for Multi-Pursuer Multi-Evader Games
This paper introduces a divide-and-conquer, heuristic task scheduling optimization approach on the challenging multi-pursuer multi-evader (MPME)games in which pursuers attempt to minimize the time to capture all evaders whereas evaders try to maximize the capture time. The MPME task scheduling problem is solved through a two-step hierarchical approach.At the high level,the game is divided into a number of subgames or teams using a combination of Voronoi diagram and a negotiation-based mechanism (through heuristic objective functions)to make the pursuit more efficient.At the low level,pursuers within each team are directed locally by their team leader to pursue an evader which runs slower or faster.We mainly focus on a position scheduling problem of how pursuers in a team can surround a faster evader as quickly as possible before entering into the capture phase.Instead of using computation intensive approaches,we use heuristics to solve the complex scheduling problems.In addition to focusing on the pursuer side,evader cooperation is also briefiy discussed.Simulation results show the effectiveness of the proposed approach.
Shiyuan Jin Zhihua Qu
Dept.of EECS University of Central Florida Orlando,FL 32821,USA
国际会议
深圳
英文
528-533
2011-06-06（万方平台首次上网日期，不代表论文的发表时间）