Cooperative hunting of multiple mobile robots under unknown dynamic environment

摘要

A general scheme of cooperative hunting for a moving target by multiple mobile robots in unknown environments is presented. To realize successful hunting, the point stabilization control algorithm is used for path planning of hunting mobile robots. Simultaneously, collision risk based obstacle avoidance scheme is used to keep away from random obstacles during hunting. The synthesized behavior is obtained by fusing avoidance behavior, encirclement behavior and pincer attack behavior. Simulated hunting experiments were conduct under different conditions in Microsoft Robotics Studio (MRS) and simulation results demonstrate the correctness and effectiveness of the proposed scheme.