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提出一种基于活跃区域的多机器人分层追逃算法,根据追捕时间及效率将多个追捕者和逃跑者分派到多个单一的双人追逃方案中,在追捕者多于逃跑者的情况下形成协作追捕者.协作追捕者观察需要其追捕的追逃者当前的运动曲线方程,利用快速推进法计算逃跑者未来的活跃区域,并根据该活跃区域执行压迫式追捕.通过对追捕者和逃跑者采用不同的策略进行仿真实验,实验结果表明所提出的方法在实际应用时具有较高的追捕效率.
A multi-robot stratified pursuit algorithm based on active region is proposed. According to the hunt time and efficiency, multiple huntsmen and runners are assigned to several single two-person pursuit programs. When there are more pursuers than runners The formation of collaborative hunt.Cooperative hunt observers need to chase the pursuers current kinetic curve equation, using the fast forward method to calculate the future runner’s active area, and according to the active area of the implementation of the oppressive hunt.By the pursuit and escape Using different strategies to simulate the experiment, the experimental results show that the proposed method has a high hunt efficiency in practical application.