Computer Science and Information Engineering, World Congress on (2009)
Los Angeles, California USA
Mar. 31, 2009 to Apr. 2, 2009
DOI Bookmark: http://doi.ieeecomputersociety.org/10.1109/CSIE.2009.670
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.
multi-robot system; dynamic pursuit; Behavior merging; multi-task decision
Yuwan Cen, Handong Zhang, Yuxiu Wu, "Multi-robot Dynamic Pursuit Scheme Based on Behavior-Merging and Task Decision-Making Technology", Computer Science and Information Engineering, World Congress on, vol. 04, no. , pp. 575-580, 2009, doi:10.1109/CSIE.2009.670