于飞,李擎,原鑫

• 1:北京信息科技大学高动态导航技术北京市重点实验室

摘要(Abstract)：

研究无人战车在无障碍、有障碍两种对局环境中的追逃问题,主要讨论了追逃定性微分对策中界栅的确定。在无障碍条件下,建立对局双方的运动模型,由于两者到达捕获点的时间是相同的,因此可以通过消除时间参数构建界栅。该方法与Isaac提出的构造界栅的经典方法结果一致,并在此基础上分析了躲避区的最大面积。在无人车的实际行驶过程中肯定会受到障碍物的影响,探讨了在有障碍条件下的追逃微分对策界栅的构建。考虑线性障碍物的影响,分析在障碍物存在的条件下双方的等时线分布情况,并提出用等时线的交集确定界栅的方法。

关键词(KeyWords)： 无人战车;追逃定性微分对策;运动模型;障碍;等时线;界栅

Abstract:

Keywords:

基金项目(Foundation): 国家自然科学基金(61471046);; 北京市自然科学基金(4172022)~~

作者(Author): 于飞,李擎,原鑫

DOI: 10.16652/j.issn.1004-373x.2018.15.036

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