With the expansion of the robot application, multiple robots systems have been paid much attention with the characteristics of flexibility, parallelism and robustness. As a representative task of multi-robot system, the hunting by multiple robots has become a hotspot because of its natural dynamism and antagonism. This thesis focuses on cooperative hunting and control of multiple mobile robots. The contents are as follows: Firstly, the research development of multi-robot system are described. The survey of multi-robot hunting is presented. The background and structure of this thesis are also introduced. Secondly, the hunting with position distribution of multiple robots is discussed. The concepts of forbidden zone and freedom zone are introduced. Under the condition that the predator robots and the invader have the same velocity, a general hunting strategy with non-obstacle environments is proposed, and the necessary and sufficient condition of successful hunting is proved based on the idea of lyapunov stability. Also, the impacts of speed direction and obstacles are analyzed. Thirdly, a dynamic programming field based environment information description method is proposed. Dynamic programming field, which may be used to compute the approximate shortest distance between any two points with the consideration of obstacles in known environments, can be trained by GAP-RBF network or support vector machine. On this basis, a multi-robot hunting strategy based on dynamic programming field is designed and the structure of network may be varied dynamically according to the information of teammates within sensing range to improve the coordination of system, which is used to pursue the invader with the escape strategy based on dynamic programming field. Fourthly, a local sensing based target tracking approach for mobile robot is proposed. The information provided by CCD camera, encoder, sonar and infrared sensors are combined to produce decision-making space, and the points set of the distribution of obstacles are given. On this basis, the concept of passageway is introduced and a passageway-based decision-making algorithm is proposed to obtain the appropriate passageway direction, which is used to achieve the collision-free target tracking in unknown environments and cope with possible local minimum. Fifthly, a hunting approach based on fuzzy coordination is proposed. According to the local sensing information of target and the angle-minimal neighbor teamma...
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