动态环境下多机器人合作追捕研究

Multi-robot Cooperative Pursuit Under Dynamic Environment

主要研究了多个自主型移动机器人合作追捕多个运动猎物的追捕—逃避问题.从基于范例的推理缩小任务招标范围、引入辅助决策矩阵改善联盟决策两个方面对传统的合同网协议进行了改进,以减少任务协商过程中的通信开销,接着引入了联盟生命值、违约金等概念,在此基础上,实现了一种允许动态联盟的多机器人合作追捕算法.仿真实验证明了所提算法的可行性和有效性.

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. The traditional ContractNet protocol is extended, including using case-based reasoning to reduce the scope of inviting bidding, and introducing assistant decision matrix to improve the alliance decision, so as to reduce the communication load during the task negotiation process. The concepts such as the alliance life value and penalty are also introduced. Based on these extensions, 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.