Multiple Mobile Robot Cooperative Target Intercept with Local Coordination

摘要：

The paper studies the problem of intercepting multiple evading targets with a swarm of autonomous cooperative mobile robots. A distributed control scheme is developed combining dynamic assignment and target pursuit strategies. By observing the targets and the neighbor robots, each robot decides its own target and attacks the target at a point ahead of its trajectory. It shows that the group of robots is capable of dividing the targets with local coordination even in absence of centralized assignment and negotiation. Moreover, one to one intercept can be successfully accomplished given that the evaders are slower than the pursers.

关键词： Cooperative control unicycles target intercept

作者: Ying Lan

作者单位: College of Transport & Communication Shanghai Maritime University, 1550 Haigang Ave, Shanghai, 201306, P. R. China.

会议类型: 国际会议

会议名称: The 24th Chinese Control and Decision Conference (第24届中国控制与决策学术年会 2012 CCDC)

会议地点: 太原

会议语种:英文

页码: 145-151

在线出版日期: 2012-05-23（万方平台首次上网日期，不代表论文的发表时间）