Probabilistic and Self-organized Strategies to Coordinate Multiple Robotic Pursuers in the Pursuit of an Adversarial Evaders
文献类型：会议论文
| 作者 | Zheng JY(郑建颖); Yu HB(于海斌) ; Liang W(梁炜); Zeng P(曾鹏)
|
| 出版日期 | 2008 |
| 会议名称 | 17th IFAC World Congress (IFAC'08) |
| 会议日期 | July 6-11, 2008 |
| 会议地点 | Seoul, Korea |
| 关键词 | Mobile robots Navigation Spacecraft propulsion Wireless networks |
| 页码 | 10385-10390 |
| 中文摘要 | This paper addresses the problem of coordinating multiple robotic pursuers in tracking and catching an adversarial evader in a dynamic environment. We assume that the adversarial evader can be detected independently by one pursuer but two pursuers are needed for a successful capture. We aim to reduce the capture time of the evader. Therefore, we model the motion of the evader by the probabilistic method and incorporate the model into directing the motion of the pursuers. In addition, we keep the pursuer communicating with at least another pursuer so that the evader found can be known immediately by another pursuer and then a quick capture can be produced by these two pursuers. By combining the two issues above, the evader can be detected and captured as quickly as possible. Finally, we present the simulation results to demonstrate the performance of our algorithm in an indoor environment. The results show that our method can greatly reduce the capture time of the evader. |
| 收录类别 | EI |
| 产权排序 | 1 |
| 会议主办者 | IFAC |
| 会议录 | Proceedings of the 17th World Congress
 |
| 会议录出版者 | Elsevier, P.O. Box 211, |
| 会议录出版地 | Amsterdam, Netherlands |
| 语种 | 英语 |
| ISBN号 | 978-1-1234-7890-2 |
| 源URL | [http://ir.sia.cn/handle/173321/10388]  |
| 专题 | 沈阳自动化研究所_工业信息学研究室_工业控制系统研究室 |
| 推荐引用方式 GB/T 7714 | Zheng JY,Yu HB,Liang W,et al. Probabilistic and Self-organized Strategies to Coordinate Multiple Robotic Pursuers in the Pursuit of an Adversarial Evaders[C]. 见:17th IFAC World Congress (IFAC'08). Seoul, Korea. July 6-11, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。