Multi-robot dynamic virtual potential point hunting strategy based on FIS

摘要

A multi-robot dynamic virtual potential point hunting strategy based on fuzzy inference system is presented. Considering the kinematic constraints of wheeled robots, hunting robots forecast the movement trend according to the position information of the evaded motion. A dynamic bounding ring for predicting positions is built. The hunting robots achieve enclosed formation and contraction trends of encirclement through rounding up the uniform distribution of potential. The fuzzy inference system is used to control the actions of multi-robot. Finally, the experiment results show the proposed algorithms can achieve the hunting of multiple mobile robots effectively.