A new approach of multi-robot cooperative pursuit

摘要

This paper addresses a new method to handle with problems on hunting activities of a multi-robot system in dynamic environment. Some necessary conditions, on which a group of robots with different velocities can develop a successful surround-and-capture process on a target with satisfactory performances, are also discussed by illustrations. Based on the quick-surrounding direction and quick-capture direction obtained, the paper provides an optimized pursuit strategy, which yields an optimal path in certain sense, whose effectiveness withstands the test of algorithm simulation.