A Distributed Multi-robot Cooperative Hunting Algorithm Based on Limit-cycle

This paper proposed a limit-cycle based algorithm for cooperative hunting task using multiple mobile robots. By integrating the model-based system and the behavior-based system, a hybrid distributed control system is established, which emphasizes on the autonomy and intelligence of each robot. On the one hand, the algorithm uses artificial potential field for multi-robot formation. On the other hand, the limit-cycle based algorithm is introduced to enable the robot team to pursue the moving target and ultimately encircle the target in a symmetrical circle formation. In addition, the paper designs a heading direction control law for obstacle avoidance, and solves the problem of robot freezing caused by counteraction between repulsion and attraction. Simulation results show the effectiveness and reliability of the proposed method in cooperative hunting control.