An efficient suboptimal algorithm for player-ally control in a conflict problem

Minimization of energy costs for UAV management in a conflict task

“…The dynamics of both objects in the phase space is described by the system of nonlinear differential equations [4]:…”

“…Then, in accordance with the generally accepted approach [4], we shall consider where k t is the maximum possible finite time determined by the evader's physical capabilities.…”

“…1 Introduction [1][2][3][4] presents a method of an optimal evader control strategy in the pursuit-evasion game problem, which does not require attaining the global extremum and complying with the condition of reaching a saddle point. The method was developed based on, first, the assumption that the evader knows its own and the enemy's physical capabilities and, second, on the condition that the enemy resorts to the most probable strategy in order to intercept the evader.…”

“…E.g., for many practical applications, the evader's trajectory is to satisfy the requirements of passing through a given terminal area with optimization of certain functions of state variables at a finite time period. The method presented in [1][2][3][4] also does not provide the possibility of terminal optimization of certain evader's state variables.…”

“…. The developed method, as well as that presented in [1], does not require reaching the global extremum, but rather takes an approach which sorts criteria by preference [1,4,6,8]. It was again assumed that at every moment the evader knows its own physical capabilities and those of the pursuer, and the optimal control laws are admissible and unique, at least for all time values preceding the moment of the encounter.…”