A Multi-Robot Hunting Algorithm Based on Dynamic Prediction for Trajectory of the Moving Target and Hunting Points

摘要

In order to fast surround the moving target by hunting robots,a multi-robot hunting algorithm based on dynamic prediction for the trajectory of the moving target and hunting points is proposed.With moving of the target,sample points are updated dynamically to predict possible position of the target in a short period of time by using the fitting of a polynomial,and the safe domain of the moving target,which is a denied area for the hunting robots,is built to avoid the target's escape when it detects robots.The method of negotiation is adopted to allocate appropriate desired hunting point for each robot.Then robots approach desired hunting points rapidly by means of multi-scout ant cooperation algorithm so as to achieve the hunting of the moving target.The simulations show that hunting robots can surround the moving target of which the trajectory is unknown rapidly and accurately by the algorithm in the environment with complex obstacles and the results obtained is satisfactory.