Multi-robot Dynamic Pursuit Scheme Based on Behavior-Merging and Task Decision-Making Technology

摘要

At present the multi-robot cooperation for completing a specific task is a popular research issue. The expect captured environment has carried on a series of limitation for the most existing algorithms; According to the multi-robot dynamic pursuit issue under the unknown and complicated environment, some unneeded limitations of environment definition were removed; the constant speed model of pursuer and escaper was built; the method of behavior-merging was adopted, and a kind of multi-task decision algorithm (MDA) was proposed for the problem. Based on the MDA, a dynamic robot pursuit algorithm was presented. A simulation experiment based on Teambots was performed. Through the simulation, numerical experiment results show the feasibility and the compatibility of the algorithm, especially when the escaper group is large.