未知环境中多移动机器人协作围捕的研究

摘要

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 feasibility of the approach by the simulation.%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.仿真结果表明了所提方法的可行性.