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Los Angeles, CA
March 31, 2009 to April 2, 2009
ISBN: 978-0-7695-3507-4
pp: 575-580
ABSTRACT
At present the multi-robot cooperation for completing a specific task is a popular research issue. The expect captured environment has carried on a series of limitation for the most existing algorithms; According to the multi-robot dynamic pursuit issue under the unknown and complicated environment, some unneeded limitations of environment definition were removed; the constant speed model of pursuer and escaper was built; the method of Behavior-merging was adopted, and a kind of multi-task decision algorithm (MDA) was proposed for the problem. Based on the MDA, a dynamic robot pursuit algorithm was presented. A simulation experiment based on Teambots was performed. Through the simulation, numerical experiment results show the feasibility and the compatibility of the algorithm, especially when the escaper group is large.
INDEX TERMS
multi-robot system; dynamic pursuit; Behavior merging; multi-task decision
CITATION
Handong Zhang, Yuxiu Wu, Yuwan Cen, "Multi-robot Dynamic Pursuit Scheme Based on Behavior-Merging and Task Decision-Making Technology", CSIE, 2009, 2009 WRI World Congress on Computer Science and Information Engineering, CSIE, 2009 WRI World Congress on Computer Science and Information Engineering, CSIE 2009, pp. 575-580, doi:10.1109/CSIE.2009.670
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