一种多机器人协作追捕-逃跑问题策略研究  

Multiagent Cooperative Pursuit-evasion Problem Theory

作　　者：李珺[1] 潘启树[1] 洪炳镕[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术学院,黑龙江哈尔滨150001

出　　处：《小型微型计算机系统》2009年第6期1180-1183,共4页Journal of Chinese Computer Systems

基　　金：国家自然科学基金项目(69985002)资助

摘　　要：提出一种多机器人协作追捕多个移动目标策略.基于主从式协作结构提出了分区主从式协作方法,在确定追捕目标点后通过引入追捕意向、追捕耗时、心智态度等三个指标概念选择最优合作追捕团队成员,并根据逃跑者状况以及协作效用判断追捕结果,评价追捕效率.仿真试验结果证明该策略的可行性及有效性.A general scheme of cooperative hunting for moving targets by multiple mobile robots is presented. Pursuit intent , pursuit time-consuming and attitude are used to choose the best group members based on the subarea principal and subordinate cooperative structure after pruisuiting object positions are confirmed. And pursuiting efficiency is evaluated according to the status of evaders and coordination avail. Simulation experiment results show the feasibility of the algorithm.

关 键 词：多机器人 追捕-逃跑问题 主从式组织结构 

分 类 号：TP24[自动化与计算机技术—检测技术与自动化装置]