Research On Collective Capture Strategy In The Multi-Robot System

As the development of Distributed Artificial Intelligence technology, the research of Multi-Robot System (MRS) is receiving more and more attention. MRS can be widely applied in industries such as large scale manufacturing like large ship manufacturing, warehouse management in modern logistics, space exploring, and unmanned combat system, as well as private and public service industry. The intelligent capture among the MARS is a testing platform for the effectiveness of robot learning strategy,it is of great significance to put intelligent mobile robot into industrial utility.Firstly, this thesis deduces the critical condition of collective capture. Analyzing thoroughly the mathematical model of MRS, this thesis deduces the minimum velocity ratio between the capture robot and evader with the method of working out the extreme value. Provided their intelligence and field of view are equal, the task of capture can be accomplished only if the velocity ratio between capture robot and evader are larger than this critical value. This theory provides guidance for the resources-allocating task in real engineering design.Secondly, it proposes a novel Multi-Robot scheme. It is rather difficult to complete the task with the general capture approach when the velocity of capture robot is less than that of the evader. Chasing the evader to the optimum capture zone with cooperation between capture robots, and implementing the intelligent capture strategy to finish the task, this new intelligent ambush strategy increases the success rate of capture. Thirdly, it designs an intelligent evasion strategy. In order to increase the difficulty of this task and fill the gap between the simulation experiment and real game, this paper improves Evading the Most Nearest Object Approach by taking into account of the vectors of all evasion direction and adding them all together. Thus it makes the testing result of the intelligent capture platform more convincible.Finally the statistics of the simulation experiment data justifies the existence of the critical condition under which the task is implemented and the feasibility of the scheme devised.