基于动态预测目标轨迹和围捕点的多机器人围捕算法

摘要

为使围捕机器人快速地围捕移动目标,提出了一种基于动态预测目标轨迹和围捕点的多机器人围捕算法.随着目标的移动,动态更新采样点,用多项式拟合预测短期内目标可能到达的位置,并建立目标的安全域以禁止围捕机器人进入,从而避免目标主动逃逸.采用协商法为各机器人分配合适的期望围捕点,各机器人采用多侦查蚁协作算法迅速前往期望围捕点从而最终实施围捕.仿真实验结果表明:多机器人应用本算法可在复杂的障碍物环境中快速准确的围捕轨迹未知的移动目标.效果令人满意.%In order to fast surround the moving target by hunting robots, a multi-robot hunting algorithm based on dynamic prediction for the trajectory of the moving target and hunting points is proposed. With moving of the target, sample points are updated dynamically to predict possible position of the target in a short period of time by using the fitting of a polynomial, and the safe domain of the moving target, which is a denied area for the hunting robots, is built to avoid the target' s escape when it detects robots.The method of negotiation is adopted to allocate appropriate desired hunting point for each robot.Then robots approach desired hunting points rapidly by means of multi-scout ant cooperation algorithm so as to achieve the hunting of the moving target. The simulations show that hunting robots can surround the moving target of which the trajectory is unknown rapidly and accurately by the algorithm in the environment with complex obstacles and the results obtained is satisfactory.