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Research on Pursuit-evasion Games with Multiple Heterogeneous Pursuers and A High Speed Evader
Wang HP(王鸿鹏); Yue, Qiang; Liu JT(刘景泰)
作者部门机器人学研究室
会议名称27th Chinese Control and Decision Conference (CCDC)
会议日期May 23-25, 2015
会议地点Qingdao, PEOPLES R CHINA
会议主办者IEEE Ind Elect Chapter, Qingdao Univ, IEEE Control Syst Soc, Syst Engn Soc China, Chinese Assoc Artificial Intelligence, Chinese Assoc Automat, Tech Comm Control Theory, Northeastern Univ
会议录名称2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)
出版者IEEE
出版地NEW YORK
2015
页码4366-4370
收录类别EI ; CPCI(ISTP)
EI收录号20154401482958
WOS记录号WOS:000375232905139
产权排序1
ISSN号1948-9439
ISBN号978-1-4799-7016-2
关键词Pursuit-evasion Games Heterogeneity Apollonius Circle Q-learning Motor Schema
摘要We deal with Pursuit-evasion games with a high speed evader which has superiority in velocity over a group of heterogeneous pursuers in this paper. Heterogeneity in the group of pursuers is expressed as heterogeneity in the individual maximum speeds. We introduce Apollonius circles generated by every pursuer and the evader to analyse the criteria for a successful capture. Collective robots pursuit problem under unknown environment is investigated from the view of behavior-based control method, and Motor Schema-based reactive control architecture is adopted. Three basic behaviors using for pursuers are designed, namely Move to goal. Avoid_obatacle and Hunting, wherein hunting behavior is realized through a kind of reinforcement learning algorithm called Q-Learning. Pursuit of the evader is based on synthesized behavior, generated through summarizing the outputs of all behaviors weighed. Results of simulation experiments validate the effectiveness of our method.
语种英语
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被引频次:2[WOS]   [WOS记录]     [WOS相关记录]
文献类型会议论文
条目标识符http://ir.sia.cn/handle/173321/19367
专题机器人学研究室
作者单位1.Institute of Robotics and Automation Information System, Nankai University, Tianjin, China
2.State Key Laboratory of Robotics, Shenyang, China
3.Tianjin Key Laboratory of Intelligent Robotics, Tianjin, China
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Wang HP,Yue, Qiang,Liu JT. Research on Pursuit-evasion Games with Multiple Heterogeneous Pursuers and A High Speed Evader[C]//IEEE Ind Elect Chapter, Qingdao Univ, IEEE Control Syst Soc, Syst Engn Soc China, Chinese Assoc Artificial Intelligence, Chinese Assoc Automat, Tech Comm Control Theory, Northeastern Univ. NEW YORK:IEEE,2015:4366-4370.
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