一种多机器人围捕策略  

A new capture strategy of multi-robots

作　　者：付勇[1] 汪浩杰[1] 

机构地区：[1]华中科技大学控制科学与工程系,湖北武汉430074

出　　处：《华中科技大学学报（自然科学版）》2008年第2期26-29,共4页Journal of Huazhong University of Science and Technology(Natural Science Edition)

摘　　要：以多机器人的围捕为研究对象,分析了成功围捕目标机器人的临界条件,即围捕机器人和目标机器人速度比的临界值,给出了该临界值的计算公式.设计了当围捕机器人的速度小于目标机器人的速度时多围捕机器人的伏击围捕方案:即先将目标机器人驱入最佳围捕区,然后再实施智能围捕策略完成围捕任务.采用Matlab的仿真结果验证了临界条件的正确性以及伏击围捕方案的有效性.Taking the capture of multirobots as an object, the critical conditions of successfully capturing subjective robots, namely, the critical ratio of captured robot＇s velocity to objective one＇s velocity, were analyzed and the calculating formula for this ratio was given. An ambushing strategy was designed under the condition that the velocity of the pursuer is less than that of the evader was designed, in which the evaders were chased to the optimum capture zone, and were captured intelligently to finish the task. The simulation by Matlab shows that both the critical condition and the ambushing strategy are valid,

关 键 词：多机器人系统 围捕 速度 临界条件 伏击策略 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]