A Pursuit Strategy for Reach-Avoid Games with Multiple Targets in Presence of Polygonal Obstacles

We propose a pursuit strategy for multi-target scenarios in polygonal obstacle environments, which comprises two components: AC(Apollonius Circle) strategy and ESP(Euclidean Shortest Path) strategy. The AC strategy is proven to be the optimal approach, with explicit applicability and winning conditions. When the AC strategy is infeasible, the pursuer adopts the ESP strategy for which we specify corresponding sufficiently winning conditions. Simulations were conducted to demonstrate the effectiveness of the strategies.