摘要
提出一种多机器人协作追捕多个移动目标策略.基于主从式协作结构提出了分区主从式协作方法,在确定追捕目标点后通过引入追捕意向、追捕耗时、心智态度等三个指标概念选择最优合作追捕团队成员,并根据逃跑者状况以及协作效用判断追捕结果,评价追捕效率.仿真试验结果证明该策略的可行性及有效性.
A general scheme of cooperative hunting for moving targets by multiple mobile robots is presented. Pursuit intent , pursuit time-consuming and attitude are used to choose the best group members based on the subarea principal and subordinate cooperative structure after pruisuiting object positions are confirmed. And pursuiting efficiency is evaluated according to the status of evaders and coordination avail. Simulation experiment results show the feasibility of the algorithm.
出处
《小型微型计算机系统》
CSCD
北大核心
2009年第6期1180-1183,共4页
Journal of Chinese Computer Systems
基金
国家自然科学基金项目(69985002)资助
关键词
多机器人
追捕-逃跑问题
主从式组织结构
group robot
pursuit - evasion problem
principal and subordinate structure
