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Multi-robot hunting in dynamic environments
Cao, Zhiqiang1; Gu, Nong2; Tan, Min1; Nahavandi, Saeid2; Mao, Xiaofeng3; Guan, Zhenying2
2008
发表期刊INTELLIGENT AUTOMATION AND SOFT COMPUTING
卷号14期号:1页码:61-72
文章类型Article
摘要This paper is concerned with multi-robot hunting in dynamic environments. A BCSLA approach is proposed to allow mobile robots to capture an intelligent evader. During the process of hunting, four states including dispersion-random-search, surrounding, catch and prediction are employed. In order to ensure each robot appropriate movement in each state, a series of strategies are developed in this paper. The dispersion-search strategy enables the robots to find the evader effectively. The leader-adjusting strategy aims to improve the hunting robots' response to environmental changes and the outflank strategy is proposed for the hunting robots to force the evader to enter a besieging circle. The catch strategy is designed for shrinking the besieging circle to catch the evader. The predict strategy allows the robots to predict the evader's position when they lose the tracking information about the evader. A novel collision-free motion strategy is also presented in this paper, which is called the direction-optimization strategy. To test the effect of cooperative hunting, the target to be captured owns a safety-motion strategy, which helps it to escape being captured. The computer simulations support the rationality of the approach.
关键词Multi-robot Hunting Besieging Circle Dynamic Environment
WOS标题词Science & Technology ; Technology
关键词[WOS]SYSTEMS
收录类别SCI
语种英语
WOS研究方向Automation & Control Systems ; Computer Science
WOS类目Automation & Control Systems ; Computer Science, Artificial Intelligence
WOS记录号WOS:000254981300006
引用统计
文献类型期刊论文
条目标识符http://ir.ia.ac.cn/handle/173211/9567
专题09年以前成果
作者单位1.Chinese Acad Sci, Inst Automat, Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
2.Deakin Univ, Sch Informat Technol & Engn, Geelong, Vic 3217, Australia
3.Penn State Univ, Dept Mech Engn, University Pk, PA 16802 USA
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GB/T 7714
Cao, Zhiqiang,Gu, Nong,Tan, Min,et al. Multi-robot hunting in dynamic environments[J]. INTELLIGENT AUTOMATION AND SOFT COMPUTING,2008,14(1):61-72.
APA Cao, Zhiqiang,Gu, Nong,Tan, Min,Nahavandi, Saeid,Mao, Xiaofeng,&Guan, Zhenying.(2008).Multi-robot hunting in dynamic environments.INTELLIGENT AUTOMATION AND SOFT COMPUTING,14(1),61-72.
MLA Cao, Zhiqiang,et al."Multi-robot hunting in dynamic environments".INTELLIGENT AUTOMATION AND SOFT COMPUTING 14.1(2008):61-72.
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