Capturing a High-Speed Evader by Multiple Pursuers with Low Energy Consumption

In this paper, a pursuit-evasion problem involving one high-speed evader and multiple variable-speed pursuers with low energy consumption is considered. For this purpose, a low energy consumption pursuit strategy is proposed. In this strategy, pursuers are classified as active and inactive according to the escape direction of the evader. The critical region for pursuing an evader (CRPE) is established based on the Apollonius circle theory. On the basis of CRPE, the minimum speeds necessary to pursue the evader for active and inactive pursuers are obtained. Additionally, the pursuit angle that minimizes the energy consumption of active pursuers is calculated using geometric principles. The simulation results validate the feasibility of the strategy.