A Multi-Robot Cooperative Hunting Approach Based on Dynamic Prediction of Target Motion

	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	复杂系统认知与决策实验室_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
第一作者单位	中国科学院自动化研究所
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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