未知环境下多机器人搜捕策略研究

针对在未知环境下多机器人围捕入侵者所存在的问题,提出了基于occupancy grid方法构造并合成环境地图指导单个机器人以分散搜索、抛物线模型预测并追踪入侵者、以及多机器人基于leader的可重构队形结构进行围捕的策略,使未知环境的地图构造和对入侵者追踪搜索过程得以同步完成,降低了机器人团队对环境的依赖,对未知环境具有较高的适应能力.最后通过仿真实验验证了该策略的正确性、有效性和鲁棒性.

Research of searching and capturing strategy based on multi-robot in unknown environment

The strategy of guiding single robot to search in disperse, predict and pursue invader by parabola model based on the occupancy grid, and of constructing and integrating the environmental map, and capturing invader by multi-robot team based on reconstructable structure is proposed to solve the problems exited in pursuing invader by multi robots in unknown environment, which synchronized the processing of map-constructing for unknown environment and invader-searching, reduced the dependence on environment and showed the high ability of robot team to fit the unknown environment. Finally the simulating experiments are provided to prove its correctness, validity and robustness.