Pursuit-Evasion Game of Multiple Pursuers and Evaders with Intelligent Cooperation and Obstacle Avoidance in a Complex Environment

To address the problem of multiplayer pursuit-evasion games in complex environments, a pursuit strategy based on artificial potential field (APF) and Apollonius circles is proposed. Firstly, the scenario of the pursuit is described. Simultaneously, the allocation problem is solved by use the allocation algorithm based on Apollonius circle. Subsequently, the APF method is employed to achieve the collaborative collision avoidance and obstacle avoidance among USVs, and the corresponding strategies for both the pursuers and evaders were presented. Finally, the effectiveness of the proposed strategy is validated through simulation.