A Multi-Robot Cooperative Hunting Approach Based on Dynamic Prediction of Target Motion
Zhiyong Wu(吴志勇)1,2; Zhiqiang Cao(曹志强)1,2; Yingying Yu(于莹莹)1,2; Lei Pang(庞磊)1,2; Chao Zhou(周超)1,2; Erkui Chen(陈二奎)3; Cao ZQ(曹志强)
2018-03
会议名称IEEE International Conference on Robotics and Biomimetics
会议录名称EI
页码587-592
会议日期December 5-8, 2017
会议地点The Parisian Macao Macau SAR, China
摘要Multi-robot hunting receives much attention due to its natural antagonism. In this paper, a hunting approach based on dynamic prediction of target motion is proposed where the prediction step is optimized according to current environment. Based on the predicted target positions, encirclement points corresponding to different prediction steps are obtained. Then, an optimized prediction step is determined according to the variance of the distances between the robots and their respective desired encirclement points. Finally, the robots shrink to capture the target. The validity of the proposed approach is verified by simulations.

关键词Multi-robot Hunting Dynamic Prediction Of Target Motion Desired Encirclement Points Optimized Prediction Step
文献类型会议论文
条目标识符http://ir.ia.ac.cn/handle/173211/20919
专题复杂系统管理与控制国家重点实验室_先进机器人
通讯作者Cao ZQ(曹志强)
作者单位1.State Key Laboratory of Management and Control for Complex Systems, Institute of Automation, Chinese Academy of Sciences, Beijing 100190, China
2.University of Chinese Academy of Sciences, Beijing 101408, China.
3.College of Electrical Engineering and Automation, Shandong University of Science and Technology, Qingdao 266590, Shandong Province, China
推荐引用方式
GB/T 7714
Zhiyong Wu,Zhiqiang Cao,Yingying Yu,et al. A Multi-Robot Cooperative Hunting Approach Based on Dynamic Prediction of Target Motion[C],2018:587-592.
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