Methods for Applying Matrices when Creating Models of Group Pursuit
Authors: Dubanov A. A. 
Published: July 2023

Introduction.It is obvious that in the near future, the issues of equipping moving robotic systems with autonomous control elements will remain relevant. This requires the development of models of group pursuit. Note that optimization in pursuit tasks is reduced to the construction of optimal trajectories (shortest trajectories, trajectories with differential constraints, fuel consumption indicators). At the same time, the aspects of automated distribution by goals in group pursuit were not considered. To fill this gap, the presented piece of research has been carried out. Its result should be the construction of a model of automated distribution of pursuers by goals in group pursuit.

Materials and Methods.A matrix was formed to study the multiple goal group pursuit. The control parameters for the movement of the pursuers were modified according to the minimum curvature of the trajectory. The methods of pursuit and approach were considered in detail. The possibilities of modifying the method of parallel approach were shown. Matrix simulation was used to build a scheme of multiple goal group pursuit. The listed processes were illustrated by functions in the given coordinate systems and animation. Block diagrams of the phase coordinates of the pursuer at the next step, the time and distance of the pursuer reaching the goal were constructed as a base of functions. In some cases, the location of targets and pursuers was defined as points on the circle of Apollonius. The matrix was formed by samples corresponding to the distribution of pursuers by goals.

Results.Nine variants of the pursuit, parallel, proportional and three-point approach on the plane and in space were considered. The maximum value of the goal achievement time was calculated. There were cases when the speed vector of the pursuer was directed arbitrarily and to a point on the Apollonius circle. It was noted that the three-point approach method was convenient if the target was moving along a ballistic trajectory. To modify the method of parallel approach, a network of parallel lines was built on the plane. Here, the length of the arc of the line (which can be of any shape) and the array of reference points of the target trajectory were taken into account. An equation was compiled and solved with these elements. On an array of samples with corresponding time values, the minimum time was found, i.e., the optimal time for simultaneous group achievement of multiple goals was determined. For unified access to the library, the control vector was expressed through a one-parameter family of parallel planes. A library of calculations of control vectors was formed. An example of applying matrix simulation to group pursuit was shown. A scheme of group pursuit of multiple goals was presented. For two goals and three pursuers, six samples corresponding to the distribution of pursuers by goals were considered. The data was presented in the form of a matrix. Based on the research results, the computer program was created and registered – “Parallel Approach on Plane of Group of Pursuers with Simultaneous Achievement of the Goal”.

Discussions and Conclusion.The methods of using matrices in modeling group pursuit were investigated. The possibility of modifying the method of parallel approach was shown. Matrix simulation of group pursuit enabled to build its scheme for a set of purposes. The matrix of the distribution of pursuers by goals would be generated at each moment of time. Methods of forming matrices of the distribution of pursuers and targets are of interest in the design of virtual reality systems, for tasks with simulating the process of group pursuit, escape, evasion. The dynamic programming method opens up the possibility of automating the distribution with optimization according to the specified parameters under the formation of the matrix of the distribution of pursuers by goals.