P-CMOMMT Algorithm For The Cooperative Multi-Robot Observation of Multiple Moving Targets

摘要

The Cooperative Multi-Robot Observation of Multiple Moving Targets (CMOMMT) problem is one of the important research areas in the multi-robot domain. In the multi-robot system, how and to which degree to balance the contradiction between individual benefit and collective benefit is a key problem and it is an important factor in deciding the observation performance of CMOMMT performance. In this paper, an altruistic factor is introduced to form different personalities and diverse cooperation observation modes to deal with this problem, a new tracking method P-CMOMMT based is designed. The effect of altruism on the tradeoff between the individual benefit and the collective benefit is studied. Simulation is done to test the performance.