An Algorithm for Swarm Robot to Avoid Multiple Dynamic Obstacles and to Catch the Moving Target

摘要

This paper presents a method for swarm robot to catch the moving target and to avoid multiple dynamic obstacles in the unknown environment. An imaginary map is built, including the highest mountain, some small hills, and a lowest lying land, respectively corresponding to the starting position of the robot, the detected obstacles, and the target. The robot is considered as a flow of water flowing from high to low. The flow of water is the robot trajectory that is divided into a set of points created by an algorithm called Self-organizing migrating algorithm. Simulation results are also presented to show that the obstacle avoidance and catching target task can be reached using this method.