Collaborative Pursuit-Evasion Strategy of UAV/UGV Heterogeneous System in Complex Three-Dimensional Polygonal Environment
Algorithm 1
Expected position of and at the next moment.
(1)
for all adjacent grids of do
(2)
for all adjacent grids of do
(3)
Suppose the current adjacent grid of and is and , respectively. According to LOS and the method in Section 3, calculate the shortest path set from current position of to each boundary grid.
(4)
Denote the shortest path set as .
(5)
end for
(6)
end for
(7)
for do
(8)
For each path in , compute the number of steps or calculation period required by to get rid of collaborative visual field according to Table 1.
(9)
Calculate the risk value set described in Section 4.1 and the set is denoted as .
(10)
end for
(11)
. In other words, the path with the lowest risk is the most likely escape path for .
(12)
and are chosen as the expected position of and at the next moment, respectively
