基于实时动态混合算法的多机器人追逃研究及仿真  

Research and Simulation of Multi-Robot Pursuit Based on Real-Time Dynamic Hybrid Algorithm

作　　者：张旭[1] 张莉莉[1] 王贤立 ZHANG Xu;ZHANG Lili;WANG Xianli(College of Physics and Electronic Information,Luoyang Normal University,Luoyang Henan 471934,China)

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：《信息与电脑》2022年第15期58-60,共3页Information & Computer

基　　金：河南省高等学校重点科研项目(项目编号:20A470009)。

摘　　要：针对存在障碍物环境的多机器人追捕问题,首先将已改进的人工势场算法与博弈算法融合应用,即根据微分博弈的求解分析结果,实时动态更新人工势场算法中的目标点。其次,提出基于主从追捕机器人的围捕策略,进一步改进博弈算法中的目标点计算,使每一步追捕机器人的运动方向呈现四面包围的形势。仿真结果表明,本文的改进实时动态混合算法能够很好解决存在障碍物的多机器人追捕问题。This paper focuses on the problem of multi-robot pursuit in the obstacle environment.Firstly,the improved artificial potential field algorithm and the game algorithm are integrated and applied.That is,according to the solution and analysis results of the differential game,the target points in the artificial potential field algorithm are dynamically updated in real time.Secondly,an encirclement strategy based on the master-slave pursuit robot is proposed to further improve the target point calculation in the game algorithm,so that the movement direction of the pursuit robot at each step can show a encirclement trend.The simulation results show that the improved real-time dynamic hybrid algorithm in this paper can solve the problem of multi-robot hunting with obstacles very well.

关 键 词：算法融合 主从追捕机器人 实时动态 围捕策略 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]