A self-organising cooperative hunting by robotic swarm based on particle swarm optimisation localisation

摘要

A novel self-organising approach to cooperative hunting by robotic swarm is put forward. Each individual can simply detect the direction angle of moving target. By using particle swarm optimisation (PSO), locating target can be realised through the individual's local interaction. Collective hunting behaviour emerged when human object moved through the detection area. Simulations and experiments demonstrate the feasibility and effectiveness of the proposed approach to cooperative hunting by swarm robotic systems.