机器人部队运动多目标合作追捕算法  

Cooperative Multiple Mobile Targets Capturing Algorithm for Robot Troops

作　　者：王月海[1] 洪炳熔[1] 

机构地区：[1]哈尔滨工业大学计算机科学与技术系,哈尔滨150001

出　　处：《西安交通大学学报》2003年第6期573-576,共4页Journal of Xi'an Jiaotong University

基　　金：国家自然科学基金资助项目(69985002);国家"八六三"高科技发展计划资助项目(2001AA422270).

摘　　要：针对现有追捕问题只研究单个逃避者且附加了诸如逃避者的速度慢、视野小、只能随机逃避等使逃避者处于劣势或与追捕者轮流运动等额外条件的问题,研究了相同速度和视野范围的逃避者和追捕者同时智能运动时的机器人部队运动多目标的合作追捕算法.该算法根据入侵者的不同类型,机器人部队首先执行运动目标承诺生成算法,由不同数目的机器人协商动态组成追捕团队,追捕团队再按运动多目标合作追捕算法进行合作追捕.仿真结果表明,机器人部队能够高效地合作捕获智能逃避的入侵者,算法的低复杂性可以在复杂动态环境下实时实现.The existing pursuit researches focus only on the single evader situation, and is imposed some limitations such as the evader has either slower speed or smaller view-field than that of the pursuer; the evader can only evades randomly; the evader and the pursuer move by turns. For this problem, a new cooperative multiple mobile targets capture algorithm (CMMTCA) is proposed. In the CMMTCA, the evaders have the same speed and view-field as those of the pursuers, and both of them move intelligently and simultaneously. According to the different types of the evaders, firstly the pursuers execute the moving targets commitments generating algorithm (MTCGA) to form sub-group dynamically, and then the sub-groups pursuit the committed targets cooperatively following the CMMTCA. The simulation results show that the intelligent evaders can be captured effectively and efficiently, and the low complexity of CMMTCA justifies its real-time implementation on the robots under dynamic environment.

关 键 词：运动多目标 追捕 机器人部队 承诺 

分 类 号：TP18[自动化与计算机技术—控制理论与控制工程]