Research on the Multi-Robot Cooperative Pursuit Strategy Based on the Zero-Sum Game and Surrounding Points Adjustment
| Autor: | Wenqian Xu, Yuqiang Liu, Zixing Li, Gang Chen, Xin Liu |
|---|---|
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
multi-robot cooperative pursuit strategy
Control and Optimization Correctness Computer science Process (engineering) Two stages pursuit robot position adjustment Industrial and Manufacturing Engineering Task (project management) Computer Science::Robotics InformationSystems_GENERAL Statistics::Machine Learning zero-sum game Hungarian algorithm Computer Science (miscellaneous) TJ1-1570 Robot position Mechanical engineering and machinery Electrical and Electronic Engineering business.industry Mechanical Engineering Computer Science::Numerical Analysis Zero-sum game Control and Systems Engineering Robot Artificial intelligence business |
| Zdroj: | Machines, Vol 9, Iss 187, p 187 (2021) Machines Volume 9 Issue 9 |
| ISSN: | 2075-1702 |
| Popis: | Making full use of the cooperation of multi-robots can improve the success rate of apursuit task. Therefore, this paper proposes a multi-robot cooperative pursuit strategy based on the zero-sum game and surrounding points adjustment. First, a mathematical description of the multi-robot pursuit problem is constructed, and the zero-sum game model is established considering the cooperation of the pursuit robots and the confrontation between the pursuit robots and the escape robot. By solving the game model, the optimal movement strategies of the pursuit robots and the escape robot are obtained. Then, the position adjustment method of the pursuit robots is studied based on the Hungarian algorithm, and the pursuit robots are controlled to surround the escape robot. Based on this, a multi-robot cooperative pursuit strategy is proposed that divides the pursuit process into two stages: pursuit robot position adjustment and game pursuit. Finally, the correctness and effectiveness of the multi-robot cooperative pursuit strategy are verified with simulation experiments. The multi-robot cooperative pursuit strategy allows the pursuit robots to capture the escape robot successfully without conflicts among the pursuit robots. It can be seen from the documented simulation experiments that the success rate of the pursuit task using the strategy proposed in this paper is 100%. |
| Databáze: | OpenAIRE |
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