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题名: Research on Pursuit-evasion Games with Multiple Heterogeneous Pursuers and A High Speed Evader
作者: 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: 2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)
会议录出版者: IEEE
会议录出版地: NEW YORK
出版日期: 2015
页码: 4366-4370
收录类别: EI ; CPCI(ISTP)
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
产权排序: 1
WOS记录号: WOS:000375232905139
Citation statistics:
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/19367
Appears in Collections:机器人学研究室_会议论文

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Recommended Citation:
Wang HP,Yue, Qiang,Liu JT. Research on Pursuit-evasion Games with Multiple Heterogeneous Pursuers and A High Speed Evader[C]. 见:27th Chinese Control and Decision Conference (CCDC). Qingdao, PEOPLES R CHINA. May 23-25, 2015.
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文件名: Research on Pursuit-evasion Games with Multiple Heterogeneous Pursuers and A High Speed Evader.pdf
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