基于NMPC的目标对引诱攻击者碰撞的合作策略
NMPC-Based Cooperative Strategy For A Target Pair To Lure Two Attackers Into Collision
摘要：
针对两目标两攻击者（2T2A）博弈，提出了一种基于非线性模型预测控制（NMPC）的目标协同防御策略. 2T2A游戏由两个攻击者和两个目标组成。每个攻击者需要单独捕获指定的目标。然而，两个目标合作引诱攻击者发生碰撞。我们假设合作目标对没有完美的知识的攻击者的状态，因此，他们估计的攻击者的状态，使用扩展的卡尔曼滤波器（EKF）。NMPC方案计算用于目标的闭环最优控制命令，同时考虑施加的状态和控制约束。理论分析进行，以确定区域，将导致目标的生存，给定的初始位置的攻击者和目标代理。数值模拟进行了评估的性能，建议NMPC为基础的战略，为不同的情况下。
英文摘要：
This paper presents a cooperative target defense strategy using nonlinear model-predictive control (NMPC) framework for a two--targets two--attackers (2T2A) game. The 2T2A game consists of two attackers and two targets. Each attacker needs to capture a designated target individually. However, the two targets cooperate to lure the attackers into a collision. We assume that the cooperative target pair do not have perfect knowledge of the attacker states, and hence they estimate the attacker states using an extended Kalman filter (EKF). The NMPC scheme computes closed- loop optimal control commands for the targets while respecting imposed state and control constraints. Theoretical analysis is carried out to determine regions that will lead to the targets' survival, given the initial positions of the attacker and target agents. Numerical simulations are carried out to evaluate the performance of the proposed NMPC- based strategy for different scenarios.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
