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Dynamic Hunti... Theory Model Yuanhui Wang

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Dyn a m
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Hu nt
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l
U S V s  B a s e d o n
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d e s i g n s  a  d y n a m i c  h un t i n g  m e t h o d  b a s e d  o n  g a m e  t h e o r y
t
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h e  h u n t n g  U S V s  wa s  m p ro v e d
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

m  t o  s e a r c h  a n d h un t n  n t r u d e r s
g
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v
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du
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h a t  c an  c o m p l e t e  t a s k s  a ut o m at i c a l l y
h e  c h ar a c t er i s t i c
E ng n e e r
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e
h e  h u n t n g  U S V s  g o t  a  s m o o t h e r  h u n t n g  p at h
he
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U nm a n n e d  S u r fa c e  V e h

n t  n u m b e r  o f h u nt n g  U S V s  an d  th e  s p e e d  o f
 IN TRO D U C TI O N
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t
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i
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 T h e  e ffe c t s  o f  d i ffe r e
n
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e
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i
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l
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K e chao X
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,
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h e  g r d  s t r at e g y  s e t o f
t
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l
,
@h
g y u an h u i
b o at s  a n d  o b s t a c
mo de
i
U S V s D y n am
,
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m
e
l
:
u at n g  t h e  p r o s  an d  c o n s  o f
ma
i
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i
i
t
l
h u n t n g  b e h av o r
i
p are d  an d v e r f
Ke y W o r d s  M u
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T h es ng
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ona
d  by  s m u at o n
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i
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o n s  b e t w e e n  h u nt n
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n g  p ro b
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t
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l l i
h e  ac t u a
t
i
m
i
dc o
i
m e th o d  wa s  v e r f
c o
t
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was
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i
t
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e t  th e  c o
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t
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t
s
y  t o  av o
m a d e  fo r
Comb
F o r  mu
:
wasd e
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dE ng n e e r
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E ma
G a m e T h e o ry
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l
Y an g L
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mp
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m
n
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g
e r fo r m
p
sac t
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ti
u a l  h un t i n
h un t i n g
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g
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i
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,
g
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t
c o n s t ant  s
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n
m e  th e o r  i n  a
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p r a c t i c a l  t o  i t r o du c e  g a
y
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t
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h e  t ar g e t s  w h i c h  ar e  m o v n g  a t  a
i
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li
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2  F O RM A T T I O N  M O D L E


h un t i n g  g a m e  w h e r e  p a r t i c i p a t i n g  m e m b e r s  c o m p e t e  o r
,
co o
2
w i th  e a c h  o th e r  an d  m ak e  d e c i s i o n s  t o  a c h i e v e

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p e ra te 
m ax m u m
i
p r o fi t o f
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t
he i r o wn
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t
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t
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ste
h e  d i s tan c e b e tw e e n any
k
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e
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m  at  e a c h  d i s c r e t e  ti m e
o nt
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p
b u i l d  a n  e n v i r o nm e n t a l  m o d e l  t o  d e t e r m i n e  t h e  p l a y e r
tos
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s
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to
o n stru c t
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 Q i n  [ 6 ]  t r a n s fo r m e d  t h e  p r o b l e m
am e  th e o r
g
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toc
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b l e m  o f  th e  t e am
e tb a s e do n
en
5
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t ar


un t e r m e a s u r e  m o d e l  a n d 
un t e r m e a s u r e  m o d e l
g
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used

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,
d i s t an c e b e tw e e n
h e h un t i n g p r o b l e m
o t s c o o
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t
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t
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 p arti c i p an t
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m d i s t r i but i o n v a l u e
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t
h e  hunt n g  U S V s
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a n d  a c h i e v e  m o r e  e ffe c t i v e  e n c i r c l e m e nt  T h e  d i ffe r e n c e
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b e t w e e n  2 7r
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n  a n d  t h e  an
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i
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l
e  w h i c h  i s  b e t w e en  tw o
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t
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W he n  th e  d
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n e d  fo r  e
6
a r e  th e  v a l u e  w e i

i


u e o f t h e d i s t an c e b e t we e n

>
j
5
5
h un t n
et
h e  e s c a p e b o a t a s  fo l l o w s
J

-
p
g
ee
an d  a d u s t  i t s  m o t i o n  s t a t e
o  t ha t  i t  c a n  a ut o n o m o u s l
whe re w
/
u eFu n c t io n




w hi c h  c an  i nt e l l i

s
l
ne  a t a c o n s t ant  s
a n  r e a c t  t o  t h e  h unt i n
Am o ng
s
hunti ng
e rma inl
p

i
_
j
-
t
m o v e s  i n a  s tr a i
U SV


.
u e  s o l ut i o n


sio
n  Co nfe r e n c e  (
C CD C


)
t
ua t i o n s
,

w e  h ave


:
U nd e r 
t
h e  p r e m i s e  t h a t  o t h e r  p l ay e r s  c h o o s e  t h e  N a sh


e
qu i l i b r i um  s tr at e g y
e
qu i l i b r i um  s o l ut i o n
N a sh
 i f  t h e  p l ay e r  c h o o s e s  a  n o n

,
i
tsi
i um  s o l ut i o n
qu i l i b r
e

,


Na sh
-
n c o m e  m u s t  b e  l e s s  th a n  t h e



.
T h e r efo r e
,
e ac h


l


g a m e  p ay e r
e

it
s o wn
qu i l i b r i um  s o l u t i o n
2)
.
Ift

Mu
ti
l
 prof
i
it
s  the  o
.
 T h e refo r e 
,
p t im al  s o l uti on
t

U SV



nc l ud e  t he  c o m p a r i s o n  s i m ul a t i o n b e fo r e  a nd  a f t e r
i

s i m ul a te
U SV s

d
t

t
,
Or
1
.
ili
r u l e s  a s  fo l l o w s
,

t


.


t
h at  c an
F ina
,
he  s p e e d o f t h e


we  s e t
gin a l
i


t

he  s i d e

ll
yt
sca
e
l
en
R a s t e r Mo d e
he
e


p
gt
e
sca
com

t
p
p ar
i
e ntl
g
s on  ex
y


pe
are


i


p e r m e nt
he  ni u n b e r o f hunt i ng



USV

on

t
he
h o f t he g r id

one sca
e  i nt e l l i



s u c c e s s  r a te

ol m
t



.


.


l

:
T he  nit
i
h e  s e l e c te d

al 
i
b r i um  s o l ut i o n


8 0 m 2 0m
pos
5 0 m 8 0m ]
,
,
;
t
i
ion
t
in
o f hunt


N a sh

i um  s h o u l d  s at i s f y


qu i l i b r
e
s
m/ s
pe e
qu
re
.
 T he  init i al

po s
gU S V s
2 0m 2 0 m
is
,
[


;
h e  n it i a l  s p e e d  o f  hu nt i ng  U S V  i s


i


:

l
g e  st ep
p
U SV
e
o b e hunt e d
t
i
,
i a l  c o nd i t
i o n s  o f  th i s  p ar
t  o f  s m ul at i o n  a s
S e t  the  i n i t
fo l l o w s
l
s in
l
he


n g  t h a t  th e re  a r e  m  N a s h  e qu i l i b r i um s  i n  th i s


a s  fo l l o w s

all
,
g
i


.
h e  b e t e r  th e  h un t i n g


t
i
 Re s p e c t v e y  th e  u n i fo r m  m o t
i
s  v a l u e  f un c t i o n ,
 S o  w e  c an  s e  N a s h  e qu
s cre en in
t

a nd

4
’
A s s um
.
an d  th e  e s c a
F ir st o f


p l e  s o l ut i on s
h i g h e r  t h e  t e am
.
,
m p r o v e m e nt
i


h e N a s h
h e r e  a r e  mu l t
i p l e  N a s h  e qu i l i b r i um  s o l ut i o n s
effe c t
i
l u e nc e  o f
w a s  c ar r i e d  o ut  o n  t h e  n f
w i l l  c h o o s e  th e  N a s h  e qu i l i b r i um  s o l u t i o n  t o  a r t i fi c i a l l y


g u a r an t e e
model
i ti
onof
t ar

g et  U S V
i s
[
7 5m 5 0m]
,
,
t
he


d  i s  0 7 m / s  s e t  t h e  hunt n
d i u s  to  5 m  th e  t i m e


g  ra
i
.
,
i
re d
,
 fo r  o ne 
it
e r at i o n

s
i

I
s
,
s et
 h e  p a ra m e t e r s
t


.
as =Z
=
/
2

Z
=
/

3

3 /w
,
Z
—
l
/
4
所
=

,
1
.
5
,
冰
=
由
1
0
,
14
=
^

1


,


n
T
Z
/
* * *
,


\
w
八
…
,

=
1
4
&
,
W h e re 
i
n
3
t

)
.
he k

Th
t

No
i
sa



td 乂

i
e
qu

t
i l
m e th o d
i
s t r at e

gy 
s  t h at  e
i

gy  t
iie  r e sul t  o f  si m ul ati o n  a s
he n  we  g e t  t




.
t
h p l ay e r





.
M ax M
-
s e l e cti
ac h

on
=


.

h un t n g
i
n m e th o d  [

The
U SV
i
1
1
]
fe at ur e  o f




t
t
o  provi de  a


he
M ax M
-

c an  a v o i d  a d o

p tin g
t
i


n
he



h a t  m ay  l e t  i t s e l f  g e t  t h e  w o r s t  p ay m e n t  T h e


.
s  s t r at e
fo l l o w i n
;
-

b r i um  s o l ut i o n s
'
s
t


,
h e  o p t m a l  s tr at e g y  o f th e  i
i
c l e  u s e s  t he 

p l ay e r
,
-
p r e s e nt
Na sh
_


s o l ut i o n
t
r
b a s i s fo r
s t r at e
re
f
h
-
0 5


)
fo l l o w s


m ax
=
gy
 c o mb
i
g  e q u at o n
ma
?
i
n at i o n  s h o u l d  s at i s f y

t
he




.
m nI
i


,
F g 3
i

m ax
mi n /
(


,
1
5
.

T r aj e c t o r y d
i

ag r am  o f h u n t i n
g  pro c e

ss




)
^
s l
m ax  m i n  /
=
W h e re  s ^
1
U S V S
,
h u n t i ng

t

re

p r e s e nt
.
t
.
.
.
,
,
戈
he op t i onal




文
…
,
,
s t r at e
gy 
of

t
he
i
-
t
h h i m t i ng



m e an s  t he  g r o up  o f  o p t i o na l  s t r a t e g y  fo r  i
USV
MU LT I
3 2

x
f
?
-
t


h


_
-
S T EP  GA M E

E X P AN S I O N


F g 4
i
.


D
i
st a n c
e  b e t w e e n  h un t i
T h e  g a m e  h u n t ng  o f h e  t r a d
i
S tep
l
:
r
a s t e r i z e  t he  hu nt i n
g m ap



;
hunt ng  o f
i
S tep  2
de si
gn
S tep 3
:
:


 G e n e r a te  hu nt ng  U S V s  and  e s c a p e  U S V  at  a
at e d  l o c at i o n o n


t
he hunt i ng m ap

d
:


t
o  step  4
U p d at e

t
e nou


;
r ev e r s e
,
 e nd
t
he  t a sk
,
 ot
,

i
f

t
he


pe

b o at s
,

but
h e r wi s e


4 2
.
h e  s e t o f o p t i o na l


s t r at e
i
 fo r e a c h
g es


U SV


;
l
S t e p  5  S o l v e  and  e x e c ut e  t he  o p t m a l  s i n g l e
i
:
fo r  e a c h

USV
r e ti u n t o  S t e

,

4  S I MU L A T I O N

p3
or
f

j
ud g m ent
-
ste
p  s tra t e g y


sc


tar
g et

USV


.


o na l  m o d e l  c a n  r e a l i z e  t h e
he hi m t i ng p a th


i
s  no t  s m o o t


h

Fo r

h a r p  t u r n i ng s  s u c h  a s  t he


y
i
,


.
p ro v e d
es ca
pe


Ga m e T h e o ry Mo d e



l

U SV

i
n  u n i fo r m  m o t i o n


i


n i t i a l  c o nd i t i o n s  fo r  t h i s  p a r t  o f


.
s i m u l a t i o n  a s  fo l l o w s
T he  n
i

h a p t e r w i l l  s m ul a t e  a nd v e r i fy  the  dy n a m i c  hu nt i n g



s
i
Im
;
i
t
a nd  t he r e  ar e  m a n
C ha n g e  s o m e  o f  t he 
R E S U L T S A N D A NA L Y S I S



)
,
it i
al 
pos
iti


:
o n  o f  hu nt n g  U S V s  i s  [ 2 0 m 2 0 m 8 0 m
i
,
2 0 m 4 5 m 8 0 m ]  S e t  0  =  tt
Th

ng  U S V s an d
iti
i ng
 p h e no m e n o n  o f  the  U S V 2  d u r ng  the  hu nt


pro c e s s


;

h
g

ud g e  wh e t he r  t he  hi m t i ng  t a s k  i s  c o m p l e t e d
h i m t i ng  t a s k  h a s  b e e n  c o m p l e t e d
S tep  4
e sc a
t
i
j
p ro c e e


,

1 1
,
0  i n  t h e  s t r at e
gy
-
sot
;


,
he r e  a r e



2 0  t i m i ng  s t r at e g i e s  i n  t o t a l  a nd  t he  m a x m u m  s t e e r n g


i
m e t ho d  fo r  m u l t i
,
U SV sb ase don
i
,
i
2 0 2 1  3 3 rd
m p r o v e d  g am e  the o r y



Ch
i
n e s e  Co n t ro l a n d


Dec
i
sio n
Co nfe re n c e

(
CCD C)
32
1


5
an
gl
eis
=
t
1
-

m i te d  to  k
li
^*
5
he n we g e t

t


1
2
 s et 
,
^
t


h e  p ar am e t e r s
*
=

20

=
=

1
0 5s 
=
as
=
)


\
.
!

 p erc e
 an t
i
-
he

r e s u l t  o f s i m u l at i o n  a s  fo

ll
ow s
v i n g  t h e  hunt i n g  U S V s  t h e  e s c a e r  c a n  e nt e r  t h e


p
,
-
i
s t r at e

i
hunt n g  s t at e  m m e d i a te l y  an d  u s e  t h e  a n ti hunt i n g


gy
/
4
t
r
ec o
a
t
r
j
/
1


y
2
t
r
e ct o
a
to  e s c
a
pe
r
j


y
som eo

T he

i
f


=
1

l
,
5
-


5 0m
c an

g
]
=
et
1
2 00

/
,
the
4
5
o


4
o


3
o


r
t
W
>




0 0
ar
=
=
aj e c 〇 y
1
t
1
re su
t
f
r
lt
 o f

s
h i s p ar t o f


i
g

1
et
,

^
mu a


ti
s
i
Q 5
=
1
l
USV
-
 =
onas


s i m u l at i o

/
1
50


J
3/ 4


n
2
t
r


,


,
]
400
 ;




.
a e c o ry


t
j

1
00

5
1


1
x /m


aj e c t o
r
t

=
fo l l o w s
1
6 0m
1
;
,
x /m


a g r am  o f h u n t i n
g p ro c e

90m 75m
[
 20 0



x /m


i
t

s it i o n  o
po

D
T raj e c t o r y d

5Q

50




,


?
.
c o nd i t i o n s  fo r

the n w e
5



:
n i t i a l p o s i t i o n o f hunt i n g  U S V s  i s  [ 2 0 m 2 0 m
;
i
ni t ial
i

a s  fo l l o w s
2 0m 75 m
F g


.


.
C h an g e
1
i
r
To a


y
t

t r
a e c to r


y
j
ss




1
E


00
1
0


0
/
e
o


x /m


x /m
J
s
P

B
u
F g8
i
T he  e s c ap e
-
E
n

.

T raj e c t o r y d
i

USV

ha s
a g r am o f hun t i n
g  p ro c e s s




.
ing  n
h e ab i l i ty  o f ant i hun t
-
t

i


t
h i s p ar


t



C




2


o
o f  s i m u l at i o n
.
 S e v e ra 
l
i


m p o r t an t  s h ar p  t umn i n g  h a v e
e x t e nd e d  t h e  d i s t an c e  b e t w e e n  h u n t i n
U S V  b ut  th e  hun t
i
,
s u r r o und  t
h e  e s c ap e
u n i fo i m  r o un d i n
Fi g 6
.


D
i
s t an c
e  b e t w e e n  hun ti
ng

U S Vs

an d

t ar
g et

US V
g

g


U S V s  an d  e s c a p e
n g  b o at  c an  a l w ay
USV
 an g
,
e
l
a nd  fi n a l l

.
y  ac
sa
p pro ac
hi e v e d a

 A m o n g  th e m 
,
t

esca
3 50
pe

USV
H owever
,
-
g
USVs


a nd

hunt i ng  s t r a t e g y  o f  th e




.
 e ac

3 O0
 du e  t o  t h e  a n t i


y
i
f l u c t u a t i o n s  o f t h e  d i s t a n c e  b e t w e e n  t h e  hun t i n
p e  U S V  ar e
h  a nd


r e l at i v e l
h e  m u lt p le




.
esc a

h  hunt i n g  U S V  fi n a l l y  r e a c h e d  t h e  hunt i n g


t e r  a dj u s tm e nt  an d  m a i nt a i n e d  s e v e r a l  s e c o nd s
d i s t an c e  a f


,

'
7
2 50
e
t
s
h e m a x i m um


s te e r i n
o
o

L
P
1
2 O0
a
0  s ho w s
g
an
g
l
e c o n s t r a i nt


i
s  e ffe c t i v e  a s  fi
g


ur e


.
>
u
p

e


1
9
S0




q
F g 7
i

A s  s h o wn 
fi n a l l
At
t

t
y  ac
i
.

H e ad
i
n g  c h o o s e  o f hun t i n g  U S V s

n  t h e  f i g ur e  5  t o  7
hi e v e
t
he

t
ar
g
et

,
hunti n g  w h i l e
h e  s am e  t m e  th e y  c an  r e a l
i
i

t
h e p ath


U S V s  c an
i

s  sm o
h e  c o l l i s i o n  a v o i d an c e  b e t w e e n  hunt i n g  U S V s
be

seen

t
兀 tl 
y
h at
e ffe c t i v e
,

e v ad e d
USV
1
,


 i t  c an  b e
p
as s in
b


y
t
he

r o ut e  o f
t
he
an d

t

c o n s t r a i nt o n
he


s in
g
l
e
-
s te

t
U S V2
.

F ro m
he m ax i m um



fi
ur e 7
g

st e eri n
g
, 
it
an
g

l
,
i

i

U SV

t
h a tc an

es ca
p
e  i n t e l li
g
e n tl
it

i


s


y

Ch
i
i
b e tw e e n

5 0
i
f


k
p e r o r m s  a  r a nd o m  m o v e m e nt  t o  c a r r y  o u t t s  t a s
2 0 2 1  3 3 rd

D
s t an c e  b e t w e e n  h un t i
i
W ema


.
.
e


ng  that  th e  e s c ap e  U S V  h a s  a  p erc ept i o n  r adi u s  o f
w h e n  i t  d o e s  n o t  p er c e i v e  t h e  h unt i ng  U S V s

3 )  F a c t o r s  a ffe c t i n g  s u c c e s
l
h
 do e s


n o t e xc e e d
p  a n g e  c an g e

F g 9
c an


a)
A s s um


6
g


?

3 0m



2) Fo r e s c ap e
1


.
h e  c i r c u l a r  o b s t a c l e  a nd  w h e n  B o th  U S V 1  a n d  U S V 3


d e l i b e r at e l
32
o th


z e  o b s t a c l e  a v o i d a n c e  an d
r e f l e c t e d  i n  t h e  m o m e n t s  t h a t  wh e n  t h e 
t


.
 t h r e e  hun t i n g 
U nd e r

te st s
sot
d

ng


U S Vs

an d
t

a rg e t
r  i nt e l li

US V


.
en te s c a
g


per
l u e n c e  o f  d i ffe r e nt  s p e e d


n ly  c o n s i de r  t h e  i nf
t

s i de s
wo
t
a nd d i ffe r e nt num b e r s o f
he pr em i s e

t
h at

w er e


t
c ar r i e d o ut fo r


hunt n g
i
h e num b e r o f hunt
i ng


d i ffe r e n t


s

p ee

USV
U S Vs
ds o f e sc a e
p




i


.
s3


,
USV
h a t  w e  c a n  v e r i fy  t h e  e ffe c t  o f  e s c a p e  s p e e d  t o  th e


i
 h un t i n
y n am c
g


.
A ft e r
n e s e  Co n t ro l a n d

s  r a t e  fo
Dec
i
sio n
Co nfe re n c e

(
CCD C)


,
ex
p
o n e nt i a l l
y s o
nec e
ti s
i
,
s sar
m b er of


y  t o  a dj u s t  t h e  n u
h u n t n g  U S V s  a n d  t h e  m ax m u m  s n g e  h e a d n g  t u r n n g


i
an
g
l
i
e
/
i
/
m aK 
n
et  i
s
t

h
s  a rt i
i
cle
i
s
.

,
l
i
i
o  a s  t o  a c hi e v e  s o l v a b i
l i
t
y


.


5  C O N CL U S I O N
B a s e d  o n  p re v
o u s  s t ud i e
i
h u n t n g m e t h o d fo r m u

i

l
s
g
t
ame

t
h e o ry m o d e
l
n
I

.

te r

t

,
h
i
s
p
U S Vs
-
ti

a


tt
i
h u nt n g
i
n g  c h o o s e o f hun t i n g


US Vs
e
1
.
Re su

lts 
o f d i f fe r e n t e s c a p e


U SV
s



peed
d
s
Av e r a g e
S peed



h un t i n g
ti
Succe s s


me

r a te



t
^
^


m/ s
l


0 9 m/ s
3
.


70%


0 7 m/ s


297 2 s


72%
.
.
T h e  fa s t e r
of d

i
i

.
ad u s t  d
j
m ove s
,
When
i
t

i
Due
the l
,
hes p ee do f
m c  h u nt n 
g
y na
hu n t n g
u rn
t

a
re
t
t
p
e

t
h e  o n g e r h u nt n g  d
i

s
i
i
i
s ta
nc e
i
t
sc
c an  ext e n d
[
1
t
he  U S V s a
si
i
,
o n a v o i d an c e


t
i l i
i l i
t
ng
y


.
of


o  o t h e r h un t i n



g


 a nd  t m e va ry ng  w e g ht  p a r a m e te r s
-
i
,
i
i
i
i
ffi c i e nt  a n t i
e
i
i
h un t n g  s t r at e g y  o f e s c a p e  U S V


-
i

i
l
a

i
i
i

l
t
ha t
m c  hu n t n  fo r  t h e  t a r e t s
g
g
i
i
e  i nte l l
p


H G
.
]

.
Zh ou
,
Unm ann e d
3 0 (6 ) 1 7
i
g
e nt l
,
y

t
l

h e m e th o d 



.


ffe c t i v e  fo r
se
w h c h  m o v e  a t  a  c o n s t a nt


i
an d v e ri f
y

, 
i
t
he
i

n fl ue n c e o f




i
[
2]
T Y MA
.
.
p
e
US V


,





.
A Re s e a r c h

S u r fa c e

20
-
:


Ve h
on
i
he
t

cl e s
,

D ev e
l
o p m e n t o f th e



D e fe n s e T e c h n o


T e c hn o
[
3
]
J
.
l
An
o gy
,
l
o gy
,

20 0 9


,


.

o u tl i n e o f c u r r e n t


s t at u s 
an d d e v e l o

mu l t i p l e  U S V c o o p e r a ti o n  s y s t e m

20
4
1
,

36(6)
:

7
-
3
1
,
 Sh
i
p
pm en
S c
t

o f th e


e n c e  an d


i


.


 L  Z h a n g  D e v e l o p m e n t  a n d  A p p l i c at i o n  o f  Unm ann e d
.
,
S u r fa c e  V e h i c l e

,
F
i
re  an d 
C om m a n d  C o n t r o  2 0
l
1
,
2
,
3


.
20 3
st
i
t
,
’
h e  d y n a m c  hu n t n g  c a n
i
h at w h e n


t
t
i


suc c e s s T he
[
4]
.
20 7
-
7( 6 )


:


.
 B e n d a  M  On  O p
.
,
S o urc e s


h e hu nt n g b o a t h a s b e e n fa r aw a y fr o m

i




i
.
B CS
-
28
Boe

,
i
ti


m a l  C o o p e r at i o n  o f  K n o w l e d g e
n g  AT C
,

B oe
i
n g  C o m p u te r  S e r v i c e s


,


Be
h e  h u n t e r s  a n d  t h e  h u n t n g  c e nt r o d  t h e  h u n t n g  b o a t


e vu e
l l
,

S e at l e
WA

,
,
98
1


5

i
i
,
b)
Und e r
0 7 m/s
.
,
5
t
hep rem
i
p
m e n t at


t
e  t h at  t h e  s
s
h e  s am e  s p e e d
p
ee do f
t

[
5
]
h e  e s c a p e  b o at 
i

i

T ab
l
e2
.

Re s u
lt

t
o  th e  s u c c e s
s  r ate
[
6
Num b e r


i

US V


[
7]
Y
of


Succe s s
US V



L
.
Un
r ate


[
8
]
Y


7 2%


3
80


5
,
.
i
i
j
l
o gy
,

t


%
h e  h un t n g  t e a m  b e c o m e s  m o r e  s t a b e
i
si
s
l
n g e  hu n t n g  U S V  d r o
l
ma
l l
i
er
.
ncr e as n
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2 0 2 1  3 3 rd
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a s  t h e  nu m b e r  o f
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n e s e  Co n t ro l a n d
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Dec
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Co nfe re n c e
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(
CCD C)
32
1
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7
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