摘要
为了实现多移动机器人在未知环境中的围捕 ,本文将任务建模为排队、随机搜索、包围、捕捉和预测五种状态 .提出了排队、搜索、包抄、捕捉、预测和方向优化策略 ,结合状态转换条件保证了任务的顺利实现 .同时 ,赋予被捕捉对象 (下用Invader表示 )一种安全运动策略 ,增加了围捕的难度 .
The hunting task for multiple mobile robots in an unknown environment is modeled as five states, namely, lining up, random search, surrounding, catch, and prediction states in the paper. The state transition conditions, and the line up, search, outflank, catch, predict and direction optimization strategies are proposed to ensure smooth fulfillment of the task. The target to be captured, called the invader, is endowed a kind of safety motion strategy thus the hunting is more difficult. We illustrate the ...
出处
《自动化学报》
EI
CSCD
北大核心
2003年第4期536-543,共8页
Acta Automatica Sinica
基金
NationalNaturalScienceFoundationofP.R.China(6 9975 0 2 2 )
关键词
多移动机器人
围捕
协调协作
Multiple mobile robots
hunting
coordination and cooperation
