AC2F: A Lightweight Adaptive Pursuit Strategy for UAVs in Complex Public Domains with Real-World Validation

Executing multi-UAV cooperative pursuit in complex public domains requires balancing interception efficiency with flight safety under strict micro-platform constraints. Existing planners often struggle with high computational overhead or lack kinodynamic adaptability in heterogeneous environments. To address this, we propose AC2F, a lightweight Adaptive Coarse-to-Fine hybrid framework featuring a bidirectional state-switching mechanism. The framework utilizes the Apollonius circle for efficient global guidance during the coarse phase, dynamically transitioning to a Dynamic Window Approach (DWA) upon detecting path oscillations or entering terminal capture zones. To ensure robustness, a dual-layer parameter paradigm integrates offline Bayesian optimization for globally optimal baselines with online real-time weight adaptation based on target distance. Extensive simulations show that AC2F effectively escapes local minima, such as urban-style U-shaped traps. Real-world suburban validation confirms an 86% capture rate with minimal computational overhead, demonstrating AC2F’s suitability for public domain protection and civil security.