Optimal Containment Strategies on High-Speed Evader Using Multiple Pursuers with Point-Capture

In this study, a special kind of pursuit-evasion game in which multiple low-speed pursuers cooperate to capture one high-speed evader is considered. All the pursuers are endowed with zero capture radius, which is referred to as point-capture. The Apollonius circle-based method is used to form a perfectly encircled formation initially besieging the evader. Then the optimal strategies are developed for three and four pursuers to capture the evader. When the pursuers are more than four, the speed of the pursuers decreases accordingly to form the perfectly encircled formation. In such cases, we give effective strategies for the pursuers to compress the escaping area. Compared with previous works, we develop the containment strategies which show better surrounding effect. Simulation results show good agreement with the proposed methods.