Research on Pursuit-evasion Games with Multiple Heterogeneous Pursuers and A High Speed Evader
文献类型：会议论文
| 作者 | Wang HP(王鸿鹏); Yue, Qiang; Liu JT(刘景泰) |
| 出版日期 | 2015 |
| 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 |
| 关键词 | Pursuit-evasion games Heterogeneity Apollonius circle Q-Learning Motor Schema |
| 页码 | 4366-4370 |
| 中文摘要 | 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. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 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)
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| 会议录出版者 | IEEE |
| 会议录出版地 | NEW YORK |
| 语种 | 英语 |
| ISSN号 | 1948-9439 |
| ISBN号 | 978-1-4799-7016-2 |
| WOS记录号 | WOS:000375232905139 |
| 源URL | [http://ir.sia.cn/handle/173321/19367]  |
| 专题 | 沈阳自动化研究所_机器人学研究室 |
| 推荐引用方式 GB/T 7714 | 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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