Research on multi-robot capturing strategy based on finite-state machine

摘要

Capturing task is a very challenging task in the multi-robot system, which involves various technologies. Formation patrol of multi-robot, environmental investigation and formation attack make use of capture task and its related technology. This paper researches on multi-robot rounded up deeply, and puts forward a method of multi-robot formation control based on the Leader-follower of condition feedback mechanism. While this paper makes use of finite state machine into multi-robot collaboration capturing, dividing capturing process of each stage into different definitions of state. And interior of each state performs forming formation, keeping formation and transformation formation. This method improves the efficiency of program modules and makes the formation movement become capturing execution means. Finally this paper verifies the effectiveness of the proposed method through the simulation result.