基于势点的未知动态环境下多移动机器人协作围捕

Cooperative hunting under unknown environment for multiple mobile robots based on potential point

提出一种在未知动态环境下实现多移动机器人自适应协作围捕运动目标的整体方案。为成功实现围捕,设计了基于势点的夹击策略,势点由效率最优原则获得。同时为躲避围捕过程中遇到的动态随机障碍,提出了基于碰撞风险的随机避障策略。围捕机器人的综合行为通过融合避障行为、合围行为和抓捕行为获得。在Microsoft Robotic Studio(MRS)仿真环境下进行了模拟实验,获得的不同条件下的围捕结果证明了围捕策略的有效性和鲁棒性。

A general scheme of cooperative hunting for a moving target by multiple mobile robots in unknown dynamic environments is presented.To realize successful hunting,potential point based strategy is proposed and potential points were obtained by optimal efficiency principle.Simultaneously,collision risk based obstacle avoidance scheme is used to avoid random obstacles during hunting.The synthesized behavior is obtained by fusing avoidance behavior,formation behavior and approach behavior.Simulated hunting experiments were conducted under different conditions in Microsoft Robotics Studio and simulation results demonstrate the effectiveness and robustness of the proposed scheme.