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Multi-robot hunting in dynamic environments

Cao, Zhiqiang, Gu, Nong, Tan, Min, Nahavandi, Saeid, Mao, Xiaofeng and Guan, Zhenying 2008, Multi-robot hunting in dynamic environments, Intelligent automation and soft computing, vol. 14, no. 1, pp. 61-72.

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Title Multi-robot hunting in dynamic environments
Author(s) Cao, Zhiqiang
Gu, Nong
Tan, Min
Nahavandi, Saeid
Mao, Xiaofeng
Guan, Zhenying
Journal name Intelligent automation and soft computing
Volume number 14
Issue number 1
Start page 61
End page 72
Total pages 12
Publisher Autosoft Press
Place of publication Albuquerque, New Mexico
Publication date 2008
ISSN 1079-8587
Keyword(s) Multi-robot
hunting
besieging circle
dynamic environment
Summary This paper is concerned with multi-robot hunting in dynamic environments. A BCSLA approach is proposed to allow mobile robots to capture an intelligent evader. During the process of hunting, four states including dispersion-random-search, surrounding, catch and prediction are employed. In order to ensure each robot appropriate movement in each state, a series of strategies are developed in this paper. The dispersion-search strategy enables the robots to find the evader effectively. The leader-adjusting strategy aims to improve the hunting robots’ response to environmental changes and the outflank strategy is proposed for the hunting robots to force the evader to enter a besieging circle. The catch strategy is designed for shrinking the besieging circle to catch the evader. The predict strategy allows the robots to predict the evader’s position when they lose the tracking information about the evader. A novel collision-free motion strategy is also presented in this paper, which is called the direction-optimization strategy. To test the effect of cooperative hunting, the target to be captured owns a safety-motion strategy, which helps it to escape being captured. The computer simulations support the rationality of the approach.
Language eng
Field of Research 080101 Adaptive Agents and Intelligent Robotics
HERDC Research category C1 Refereed article in a scholarly journal
Copyright notice ©2008, TSI Press
Persistent URL http://hdl.handle.net/10536/DRO/DU:30017878

Document type: Journal Article
Collections: School of Engineering and Information Technology
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Every reasonable effort has been made to ensure that permission has been obtained for items included in DRO. If you believe that your rights have been infringed by this repository, please contact drosupport@deakin.edu.au.