基于运动图式的多机器人合作追捕

Multiple Robots Cooperative Pursuit Based on Motor Schema

为实现多个机器人合作追捕目标机器人,以基于运动图式的反应式控制结构为基础,设计追捕机器人的4种基本行为:奔向目标,避开障碍物,避让队友以及收缩包围,为避免机器人陷入死锁状态,引入随机漫游行为。通过基本行为的矢量合成和机器人之间的局部交互作用,实现多机器人的协作行为。仿真试验验证了该方法的有效性。

To solve the problem that a group of robots cooperatively pursue a target robot, based on motor schema-based reactive control architecture, four basic behaviors including move-to-goal, avoid-obstacle, avoid-teammate and shrink-surround are designed for each pursuing robot. To prevent each robot from deadlock state, random-wander behavior is introduced. Through vector synthesis of these basic behaviors and local interaction among robots, multi-robot collaborative behavior is achieved. The validity of the approach is verified by simulation experiments.