基于动态围捕点的多机器人协同策略  

Cooperative Hunting Strategy for Multi-mobile Robot Systems Based on Dynamic Hunting Points

作　　者：李瑞珍 杨惠珍[1,2] 萧丛杉 LI Rui-zhen;YANG Hui-zhen;XIAO Cong-shan(College of Marine Engineering,Northwestern Ploytechnical University,Xi'an 710072,China;Underwater Information and Control Laboratory,Xi'an 710072,China)

机构地区：[1]西北工业大学航海学院,西安710072 [2]水下信息与控制重点实验室,西安710072

出　　处：《控制工程》2019年第3期510-514,共5页Control Engineering of China

摘　　要：为使机器人有效地围捕移动目标,提出了一种基于动态围捕点的多机器人协同围捕策略。根据目标的位置,动态设置围捕点,采用协商法为围捕机器人分配最佳围捕点,建立了一个综合描述围捕路径损耗和有效包围效果的目标函数,通过优化该目标函数获得围捕机器人的最优航向角,从而实现了围捕机器人的在线路径规划。仿真结果表明了该算法的有效性。In order to surround the moving target by hunting agents beneficially, a multi-agent cooperative hunting strategy based on dynamic hunting points is proposed. Desired hunting points are configured dynamically according to the position of the target and the negotiation mechanism is applied to allocate the desired hunting point for each mobile agent. A cost function is established to integrate the path consumption and the surrounding effectiveness. The desired orientation angle for each agent is obtained by optimizing the cost function. Finally, the online path planning of the robot is realized. Simulation results show the effectiveness of the proposed hunting strategy.

关 键 词：协同围捕 动态围捕点 协商法 

分 类 号：TP273[自动化与计算机技术—检测技术与自动化装置]