Cooperative Hunting of Multiple Mobile Robots under Unknown Dynamic Environment

被引：1

作者：

Wang, Fei ^{[1
]}

Wei, Wei ^{[1
]}

Wu, Chengdong ^{[1
]}

机构：

[1] Northeastern Univ, Coll Informat Sci & Engn, Shenyang 110004, Peoples R China

来源：

CCDC 2009: 21ST CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1-6, PROCEEDINGS | 2009年

关键词：

Multiple mobile robots; Cooperative hunting; Point stabilization; Collision risk; Behavior synthesis;

D O I：

10.1109/CCDC.2009.5192564

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

A general scheme of cooperative hunting for a moving target by multiple mobile robots in unknown environments is presented. To realize successful hunting, the point stabilization control algorithm is used for path planning of hunting mobile robots. Simultaneously, collision risk based obstacle avoidance scheme is used to keep away from random obstacles during hunting. The synthesized behavior is obtained by fusing avoidance behavior, encirclement behavior and pincer attack behavior. Simulated hunting experiments were conduct under different conditions in Microsoft Robotics Studio (MRS) and simulation results demonstrate the correctness and effectiveness of the proposed scheme.

引用

页码：3024 / 3029

页数：6