A co-evolutionary method for pursuit-evasion games with non-zero lethal radii

Abstract

This study suggests a co-evolutionary method for solving pursuit-evasion games with consideration of non-zero lethal
\nradii. The proposed method has three key features. First, it can handle both the final time problem and the miss distance
\nproblem simultaneously, by adopting a separated payoff function. Second, the Stackelberg equilibrium instead of the
\nsecurity strategy solution is employed to consider the maximin characteristics of an open-loop solution. Finally, an
\nadditional evolving group is introduced to treat an unprescribed final time. Numerical simulations are performed to
\nverify the proposed method by comparing it with the gradient-based method. In addition, the effect of lethal radius is
\ndiscussed based on the numerical results.