A Hierarchical Approach Based on Fast Marching Method in Multi Player Pursuit-Evasion Game

The multi player pursuit-evasion game is a very important issue in multi-robot system. A hierarchical approach is proposed, then the multi player pursuit evasion game is divided into many single two player game and some assist to execute constringent pursuit. The Fast marching method (FMM) is proposed to solve the Eikonal equation of each pursuit and evader's current movement curve, then to construct the pursuit and evader' “active regions” in the constringent pursuit and forecast their movement. Experiments show that the hierarchical approach based on FMM is more efficient than any other methods in time capability.