Collective Circular Target Defensive Gaming Strategy for Multi-Autonomous Surface Vehicle Fleets
Bin Liu, Ning Zhe Xing, Hai-Tao Zhang · IEEE Transactions on Industrial Electronics · 2025
This article proposes a collective target defensive gaming (CTDG) strategy for multiautonomous surface vehicle (ASV) fleets. First, a task allocation algorithm is designed with the assistance of perimeter-defense game theory, which transforms the multi-ASV fleets defending game into a series of “1 VS 1” and “2 VS 1” local subgames. Thereby, a CTDG controller is developed and sufficient conditions are accordingly derived to guarantee its feasibility. Finally, extensive experiments are conducted on a self-developed lake-based multi-ASV fleet platform to verify the effectiveness of the proposed CTDG strategy.