In this paper, a catching problem with three mobile robots is considered. To achieve successful capture of an escaping target, the formation action of the robots is introduced in preference to the approach action toward the target. The formation rules are represented as the fuzzy rules, and tuned by genetic algorithm so that the robots enclose the target within trial period. After the robots drive the target into the catching area by using the formation rules, the robots move toward the target by using the approach rules. Simulation results under some situations demonstrate the effectiveness of the proposed scheme.
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