Dynamic Hunting Method for Multi-USVs Based on Improved Game Theory Model

For multi-USVs hunting problem, a muti-USVs dynamic hunting method based on improved game theory model was designed, and the traditional grid model was improved, the hunting USVs got a smoother hunting path, and the ability to avoid collisions between hunting boats and obstacles was gained. Firstly, mathematical description was made for the hunting, and a Environmental model was established, the termination conditions for hunting were designed. Combined with the actual hunting behavior, the grid strategy set of the hunting USVs was improved. After constructing the profit function for evaluating the pros and cons of the strategy, the dynamic hunting model based on improved game theory was established. The single-step optimal strategy was gained by solving the Nash equilibrium, and then expanded to get the complete optimal dynamic hunting strategy. Finally, the effectiveness of the designed dynamic hunting method was verified by simulation. The effects of different number of hunting USVs and the speed of escaper were compared and verified.