Multi-robot Cooperative Pursuit Based on Combinatorial Auction Mechanism Under Dynamic Environment

摘要：

This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Multi-Unit Combinatorial Auction was proposed. It allocated task dynamically through capability classification and independent competition. A kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.

关键词： Multi-robot system Pursuit-Evasion game Auction Mechanism

作者: Cai Ze-Su Sun Li-Ning Gao Hai-Bo Zhou Pu-Cheng

作者单位: State Key Laboratory of Advanced Robot and System, Harbin Institute of Technology,Harbin 150001,Heil State Key Laboratory of Advanced Robot and System, Harbin Institute of Technology,Harbin 150001,Heil Department of Information Engineering,Artillery Academy of PLA,Hefei 230031,AnHui Province,China

会议类型: 国际会议

会议名称: The 2nd International Symposium on Systems and Control in Aeronautics and Astronautics(第二届航空航天系统与控制国际会议 ISSCAA 2008)

会议地点: 深圳

会议语种:英文

页码: 106-111

在线出版日期: 2008-12-10（万方平台首次上网日期，不代表论文的发表时间）