Open document
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General information |
| Author |
Cao, Zhiqiang; Zhou, Chao; Cheng, Long; Yang, Yuequan; Zhang, Wenwen; Tan, Min |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
A novel distributed hunting approach for
multiple autonomous robots in unstructured mode‐free
environments, which is based on effective sectors and
local sensing, is proposed in this paper. The visual
information, encoder and sonar data are integrated in the
robot’s local frame, and the effective sector is introduced.
The hunting task is modelled as three states: search state,
round‐obstacle state, and hunting state, and the
corresponding switching conditions and control
strategies are given. A form of cooperation will emerge
where the robots interact only locally with each other.
The evader, whose motion is a priori unknown to the
robots, adopts an escape strategy to avoid being
captured. The approach is scalable and may cope with
problems of communication and wheel slippage. The
effectiveness of the proposed approach is verified
through experiments with a team of wheeled robots. |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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