A Rapid Hunting Algorithm for Multi Mobile Robots System

摘要：

To decrease the times of dynamic path planning and increase the hunting speed, a concept of “Virtual Range has been presented for a multi mobile robots system to hunt a moving target in the outdoor environment. Firstly, the path planning of a single robot based on the potential grid method is discussed in a grid map of the outdoor environment, which is established by using the SQL server database. Furthermore, the “Dead Point problem of the potential grid method is analyzed and resolved. The regular polygon surrounding strategy is the final object to be cooperatively fulfilled by the multi mobile robots. To realize an obvious hunting time reduction, the “Virtual Range is used as a criterion to trigger the change of the robots states. An actual multi mobile robots system based on wireless LAN has been used to validate the algorithm. The test results show that a reasonable “Virtual Range can shorten the surrounding time, and there is a shortest hunting time “Virtual Range for a certain multi mobile robot system.

关键词： Multi Mobile Robots Potential Grid Method Path Planning

作者: Wei WANG Jinghao QI Houxiang ZHANG Guanghua ZONG

作者单位: Beihang University of Aeronautic and Astronautic, China University of Hamburg, Germany

会议类型: 国际会议

会议名称: 2nd IEEE Conference on Industrial Electronics and Applications(ICIEA 2007)(第二届IEEE工业电子与应用国际会议)

会议地点: 哈尔滨

会议语种:英文

在线出版日期: 2007-05-23（万方平台首次上网日期，不代表论文的发表时间）