Research on Multi-UUV Pursuit-Evasion games strategies under the condition of strongly manoeuvrable evader

Aiming at the multi-UUV target pursuit-evasion game under the condition of strongly moving ability of the target, the necessary conditions for the pursuers to capture the evader were studied, including the minimum number of pursuers and the distribution of initial position required to capture the evader. In this paper, we propose a pursuers cooperation strategies and an evader strategies based on UUV interception and breakthrough game strategies by using geometry method. Firstly, the kinematics model and controller of UUV is constructed. Then, the control characteristics of UUV are introduced into the strategies of pursuit-evasion game. Finally, two typical simulation cases are designed to verify the rationality of the proposed strategies. The results show that the proposed multi-UUV pursuit-evasion game strategies can effectively capture the evader with strongly moving ability.