Abstract
The Pursuit-Evasion (PE) game of Unmanned Surface Vehicles (USVs) is a classic antagonistic problem for the intelligent agent system. To enhance the escaping success rate of evaders with better effort, this paper proposes an escape strategy based on the geometrical characteristics of Apollonius circles. An improved self-adaptive escaping strategy for the evader utilizing the deep deterministic policy gradient algorithm is proposed. Then, the criteria for successful encirclement by pursuer are given. A DDPG algorithm-based framework is proposed on the basis of markov decision process formulation. Specifically, an action space based on adaptive decision radius of evader is designed. Our simulation shows the proposed method has more advantages in terms of escape distance and escape time.
| Original language | English |
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| Title of host publication | Proceedings of 2024 IEEE 13th Data Driven Control and Learning Systems Conference, DDCLS 2024 |
| Publisher | Institute of Electrical and Electronics Engineers Inc. |
| Pages | 496-502 |
| Number of pages | 7 |
| ISBN (Electronic) | 9798350361674 |
| DOIs | |
| State | Published - 2024 |
| Externally published | Yes |
| Event | 13th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2024 - Kaifeng, China Duration: 17 May 2024 → 19 May 2024 |
Publication series
| Name | Proceedings of 2024 IEEE 13th Data Driven Control and Learning Systems Conference, DDCLS 2024 |
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Conference
| Conference | 13th IEEE Data Driven Control and Learning Systems Conference, DDCLS 2024 |
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| Country/Territory | China |
| City | Kaifeng |
| Period | 17/05/24 → 19/05/24 |
Bibliographical note
Publisher Copyright:© 2024 IEEE.
Keywords
- Apollonios circle
- DDPG
- Self-adaptive escape strategy
- pursuit-evasion game