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题名: Probabilistic and Self-organized Strategies to Coordinate Multiple Robotic Pursuers in the Pursuit of an Adversarial Evaders
作者: Zheng JY(郑建颖) ; Yu HB(于海斌) ; Liang W(梁炜) ; Zeng P(曾鹏)
作者部门: 工业控制系统研究室
会议名称: 17th IFAC World Congress (IFAC'08)
会议日期: July 6-11, 2008
会议地点: Seoul, Korea
会议主办者: IFAC
会议录: Proceedings of the 17th World Congress
会议录出版者: Elsevier, P.O. Box 211,
会议录出版地: Amsterdam, Netherlands
出版日期: 2008
页码: 10385-10390
收录类别: EI
ISBN号: 978-1-1234-7890-2
关键词: Mobile robots ; Navigation ; Spacecraft propulsion ; Wireless networks
摘要: This paper addresses the problem of coordinating multiple robotic pursuers in tracking and catching an adversarial evader in a dynamic environment. We assume that the adversarial evader can be detected independently by one pursuer but two pursuers are needed for a successful capture. We aim to reduce the capture time of the evader. Therefore, we model the motion of the evader by the probabilistic method and incorporate the model into directing the motion of the pursuers. In addition, we keep the pursuer communicating with at least another pursuer so that the evader found can be known immediately by another pursuer and then a quick capture can be produced by these two pursuers. By combining the two issues above, the evader can be detected and captured as quickly as possible. Finally, we present the simulation results to demonstrate the performance of our algorithm in an indoor environment. The results show that our method can greatly reduce the capture time of the evader.
产权排序: 1
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/10388
Appears in Collections:工业信息学研究室_工业控制系统研究室_会议论文

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文件名: Probabilistic and Self-organized Strategies to Coordinate Multiple Robotic Pursuers in the Pursuit of an Adversarial Evaders.pdf
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