A PE game with one superior hunter and multi-pursuer against an evader

In this paper, we consider a pursuit-evasion (PE) game with multi-pursuer and one hunter against an evader where the evader has a speed that is higher than the speed of each pursuer but is lower than the speed of the hunter. We are concerned with the problem how multi-pursuer and one hunter cooperate to capture the evader successfully. We present strategy of dynamic alliance to make sure the multi-pursuer are not redundant. The proposed algorithm uses the well-known Apollonius circle mechanism to define the capture region of the agents based on the locations and the speeds. A chase-following algorithm based on predicting intercept points is proposed. The evader’s escape strategy based on improved artificial potential field method are also studied. The results obtained from numerous simulations demonstrate the validity of the cooperative hunting control and the evader’s escape strategy.