A Region-Based Relay Pursuit Scheme for a Pursuit–Evasion Game With a Single Evader and Multiple Pursuers

In this article, a class of the relay pursuit–evasion problem is dealt with. Multiple pursuers and a single evader take part in the considered game. We propose a region-based relay pursuit scheme for the pursuers to capture a single evader that adopts the pure evasion strategy. First, a round pursuit strategy, which is a quickest decent control law, is proposed as an alternative strategy to the pure evasion strategy. Next, a partition of the planar space is given by using the Voronoi diagram and some circular barriers to indicate the dominance region of each pursuer and each pursuit strategy. Then, the region-based relay pursuit scheme is put forward. Finally, two simulation examples are provided to verify the effectiveness and superiority of the proposed methodology.