A Multiple Mobile Targets Capturing Algorithm Base on Dynamic Role Assigned

摘要

Based on dynamic role assignment, new methods about multiple robots capturing multiple targets are proposed in this paper. In this method, every robot acts as one of the three roles at any given time: Search, Head and Attend. Because robots change their roles as the environment changes, a dynamical group forming is realized. Thus not only can the group adapt to the unexpected situation but also each robot can improve its individual performance in benefit of the group. Simulator results show that the intelligent mobile targets can be captured more efficiently and the methods are effective.