Encirclement Guaranteed Cooperative Pursuit with Robust Model Predictive Control

• DOI: 10.48550/arxiv.2108.07445
• Publication Date: 2021-01-01
• Authors: Chen Wang; Hua Chen; Jia Pan; Wei Zhang
• Keywords: Model Predictive Control

This paper studies a novel encirclement guaranteed cooperative pursuit problem involving $N$ pursuers and single evader in an unbounded two-dimensional game domain. Throughout the game, are required to maintain of evader, i.e., should always stay inside convex hull generated by all pursuers, addition achieving classical capture condition. To tackle this challenging problem, robust model predictive control (RMPC) based formulation framework is first introduced, which simultaneously accounts for requirements under assumption that evader's action unavailable pursuers. Despite reformulation, resulting RMPC involves bilinear constraint due requirement. further handle such constraint, partitioning scheme devised simplifies original number linear tube MPC (TMPC) problems solvable decentralized manner. Simulation experiments demonstrate effectiveness proposed solution framework. Furthermore, comparisons with existing approaches show explicit consideration condition significantly improves chance successful various scenarios.