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<p>This paper proposes a dynamic pursuit strategy for multi-player systems in the reach-avoid problem in a three-dimensional(3D) environment with obstacles. To address issues such as high computational complexity, poor real-time performance, and even insolvability in the pursuit strategy design for multi-player reach-avoid games within 3D obstacle-rich environments, our strategy integrates geometric methods and visibility analysis to guide pursuers in intercepting evaders while avoiding collisions, thereby protecting critical regions. For obstacle-rich environments, we define three regions: the extended target region, the target-visible region, and target-obscured region, and design distinct strategies for pursuers in different regions to adapt to environmental constraints. We develop a pursuit strategy based on Apollonius, construct obstacle-constrained motion strategies based on target visibility, and formulate obstacle-circumvention method. To address the multi-pursuer multi-evader task allocation problem, an Apollonius-based task allocation strategy is introduced, enabling dynamic allocation based on pursuers’ relative interception advantages. This paper presents a comprehensive framework encompassing environmental analysis in 3D obstructed spaces, task allocation, and motion control strategies. The results demonstrate that in complex 3D environments with obstacles, the pursuer can employ the strategy to swiftly complete the pursuit of the evader and the defense of critical areas.</p>

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3D pursuit strategy for multi-player reach-avoid games in obstructed environments based on regional control and Apollonius-based allocation

  • 期刊论文

  • 发表日期：

    2025年9月15日

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  • Yansong He,
  • Bochen Li,
  • Chenggang Wang,
  • Qiang Wei,
  • Lei Song,
  • Dan Huang

摘要

This paper proposes a dynamic pursuit strategy for multi-player systems in the reach-avoid problem in a three-dimensional(3D) environment with obstacles. To address issues such as high computational complexity, poor real-time performance, and even insolvability in the pursuit strategy design for multi-player reach-avoid games within 3D obstacle-rich environments, our strategy integrates geometric methods and visibility analysis to guide pursuers in intercepting evaders while avoiding collisions, thereby protecting critical regions. For obstacle-rich environments, we define three regions: the extended target region, the target-visible region, and target-obscured region, and design distinct strategies for pursuers in different regions to adapt to environmental constraints. We develop a pursuit strategy based on Apollonius, construct obstacle-constrained motion strategies based on target visibility, and formulate obstacle-circumvention method. To address the multi-pursuer multi-evader task allocation problem, an Apollonius-based task allocation strategy is introduced, enabling dynamic allocation based on pursuers’ relative interception advantages. This paper presents a comprehensive framework encompassing environmental analysis in 3D obstructed spaces, task allocation, and motion control strategies. The results demonstrate that in complex 3D environments with obstacles, the pursuer can employ the strategy to swiftly complete the pursuit of the evader and the defense of critical areas.