Cooperative Hunting Strategy with a Superior Evader Based on Differential Game

This paper considers a pursuit‐evasion game with multiple pursuers and a superior evader. A novel cooperative pursuit strategy is proposed to capture a faster evader while maintaining a formation. First, the initial states including position distribution and the minimum required number of pursuers for ensuring capture are obtained based on the idea of Apollonius circle. Second, a cost function is designed, and the cooperative hunting strategy is developed using the distances between the centers of multiple Apollonius circles. Finally, numerical simulation and UAVs flying tests are provided to demonstrate the effectiveness of the proposed cooperative hunting strategy.