Multi-Robot Cooperative Hunting

摘要

This paper presents a Lyapunov based cooperative hunting method for multiple robots. First, the relative dynamics is obtained from the robot-target relative kinematics. Then, using the relative dynamics and dynamics of all the robots, a Lyapunov based local controller is derived to stabilize individual robots. Afterward, the cooperative control law is obtained by adding an extra term to the local controller, which represents the mutual difference in tracking errors. The closed-loop system is proved to be asymptotically stable using Lyapunov Stabilization Theorem. Further, the performance of the cooperative hunting method using a group of non-holonomic robots is evaluated using simulation. The results show that the robot group can effectively track and trap the target simultaneously.