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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)
Department机器人学研究室
Conference Name27th Chinese Control and Decision Conference (CCDC)
Conference DateMay 23-25, 2015
Conference PlaceQingdao, PEOPLES R CHINA
Author of SourceIEEE 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
Source Publication2015 27TH CHINESE CONTROL AND DECISION CONFERENCE (CCDC)
PublisherIEEE
Publication PlaceNEW YORK
2015
Pages4366-4370
Indexed ByEI ; CPCI(ISTP)
EI Accession number20154401482958
WOS IDWOS:000375232905139
Contribution Rank1
ISSN1948-9439
ISBN978-1-4799-7016-2
KeywordPursuit-evasion Games Heterogeneity Apollonius Circle Q-learning Motor Schema
AbstractWe 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.
Language英语
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Cited Times:3[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/19367
Collection机器人学研究室
Affiliation1.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
Recommended Citation
GB/T 7714
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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