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This paper considers a pursuit-evasion deployment problem where the fixed-wing UAVs deploy to create an encircling formation with the objective of confining the evading target within a designated capture domain. The problem is challenging because fixed-wing UAVs are limited by their turning radius, making it more difficult to describe the capture domain reasonably. This paper combines the fixed-wing UAV kinematic model and the Apollonius circle model to efficiently obtain an approximate solution for the capture domain. Considering the quantity of captured targets and the total capturability of the UAVs, a multiobjective model for deploying fixed-wing UAVs in a pursuit-evasion game is designed. Numerical simulations with fixed-wing UAVs of different scales are carried out to verify the effectiveness of the algorithm.

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Optimal Deployment in Pursuit-Evasion Game Based on Apollonius Circle for Multi-UAV System

  • 会议论文

  • 发表日期：

    2025年

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  • Xinning Wu,
  • Huangchao Yu,
  • Xiangke Wang,
  • Yongbin Zheng

摘要

This paper considers a pursuit-evasion deployment problem where the fixed-wing UAVs deploy to create an encircling formation with the objective of confining the evading target within a designated capture domain. The problem is challenging because fixed-wing UAVs are limited by their turning radius, making it more difficult to describe the capture domain reasonably. This paper combines the fixed-wing UAV kinematic model and the Apollonius circle model to efficiently obtain an approximate solution for the capture domain. Considering the quantity of captured targets and the total capturability of the UAVs, a multiobjective model for deploying fixed-wing UAVs in a pursuit-evasion game is designed. Numerical simulations with fixed-wing UAVs of different scales are carried out to verify the effectiveness of the algorithm.