关于多机器人围捕协调路径策略研究  

Research on Coordination Strategy of Multi-robot Capture

作　　者：张旭[1] 贾磊磊[1] 陈群[1] 

机构地区：[1]洛阳师范学院物理与电子信息学院,河南洛阳471934

出　　处：《计算机仿真》2016年第6期357-361,共5页Computer Simulation

基　　金：河南省教育厅科学技术研究重点项目(14A413007);河南省科技攻关计划项目(142102210474)

摘　　要：针对多机器人围捕策略研究主要集中在无障碍物环境下静态目标的围捕和性能较低的目标机器人的围捕,对围捕协调控制问题进行分层分析,将复杂的围捕协调任务分为不同的模块进行讨论。对于不同的追捕者,分别采用不同的策略进行分析,根据实时的环境情况,提出利用模糊控制的追逃避障策略和动态leader追捕机器人在线调整策略以及采用有限状态机的围捕目标选择策略,最后将分解后的任务策略进行融合,完成总的围捕任务。通过在mobotsim环境下仿真实现,验证了采用模块化融合路径策略的多机器人协调围捕算法能够顺利的完成围捕协调任务。In this article, the control of cooperative hunting was analyzed in different levels by dividing the whole complicated cooperative hunting tasks into small parts that can be handled more easily. According to the real - time environment, different strategies were adopted for different hunters, including obstacle avoidance strategy based on fuzzy control, online adjustment strategy based on the dynamics of leader - pursuers, and target - selection strategy for assistant pursuers based on finite state machine theory. Eventually all the divided strategies were recombined to complete the whole capture task. The simulation of Mobotsim shows that the cooperative hunting algorithm based on modular integration strategy can successfully complete the hunting task.

关 键 词：围捕 融合策略 有限状态机 模糊控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]