A Local Interaction Based Multi-robot Hunting Approach with Sensing and Modest Communication

被引：0

作者：

Zhang, Wenwen ^{[1
]}

Wang, Jing ^{[1
]}

Cao, Zhiqiang ^{[1
]}

Yuan, Yuan ^{[1
]}

Zhou, Chao ^{[1
]}

机构：

[1] Chinese Acad Sci, Lab Complex Syst & Intelligence Sci, Inst Automat, Beijing 100190, Peoples R China

来源：

INTELLIGENT ROBOTICS AND APPLICATIONS, PROCEEDINGS | 2009年 / 5928卷

基金：

中国国家自然科学基金; 国家高技术研究发展计划(863计划);

关键词：

Multi-robot system; hunting; sensing; modest communication; local coordination rule; PURSUIT-EVASION; COORDINATION;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

A local interaction based hunting approach for multi-robot system in unstructured environments is proposed in this paper. The hunting task is modeled as three modes: initial leader-fixed following&search mode, leader-changeable following&search mode and hunting mode. The conditions for modes switching are given. In order to reduce the dependence on communication, an event-trigger communication scheme based on the evader's observation state is designed. For individual robot, it integrates local information from vision system, sonar sensors and encoders in its local coordinate frame as well as modest communication data to acquire situation-suited task mode, and then makes decisions based on behaviors with appropriate local coordination rules. The experiments with physical mobile robots verify the effectiveness of the proposed approach.

引用

页码：90 / +

页数：2

共 14 条

[1] Cooperative mobile robotics: Antecedents and directions [J].