Optimal Evasion Strategy of Three-Dimensional Differential Game Based on RHC

This paper presents a practical solution to address real-time strategy adjustments in UAV pursuit, a problem characterized by complex dynamics. Existing studies often rely on simplified or one-sided optimal solutions, falling short of achieving practical game strategies. In response, a three-dimensional differential game based on optimal evasion strategy using Receding Horizon Control (3DDG-RHC) is proposed. A comprehensive three-dimensional UAV dynamic model is established, formulate a quadratic performance index and differential game model based on the relative motion of the pursuers, and employ Receding Horizon Control (RHC) for the iterative solution of the optimal escape strategy with minimum cost. The results demonstrate that our approach enables the escaping UAV to successfully evade the pursuer, maintaining a greater separation distance at the intersection time. Additionally, extensive anti-interference experiments confirm the robustness of our method, as the escaping UAV consistently reaches its destination while avoiding interception, even under the influence of Gaussian noise on initial parameters.