Artificial Moment Method Of Swarm-Robot Cooperative Hunting Multi-Intruders

Multi-robot system has been paid attention widely to be a significant topic,as single robot can not match advantages,for example,the functional diversity,to perform the task parallelism and stronger fault tolerant ability.Cooperative hunting is a challenging problem in swarm robotics systems,in industry,military,aerospace,medical services and other fields,which will be very prevalent to apply.It mainly studies how the hunting robots to capture evaders and to make the hunting efficiency as high as possible ultimately,though the cooperation and coordination between them.A method based on artificial moment motion controller is proposed in this paper for swarm robots cooperatively hunting multi-intruders,and which has been verified by using MATLAB Language simulation.The main details are as following.First of all,the artificial moment motion controller designed for intruders makes their mode of motion more intelligent rather than only random movement,which can increases applicable scope of hunting algorithm.Then,in view of the problems existing in currently multi robot cooperative hunting method,a method based on artificial moment motion controller is proposed in this paper.In the method,the attractive segments and points are designed according to the analysis of best position.Then the clamping force strategy and the relay principle are put forward,which make a different hunting-point be assigned to a different defender.And the artificial moment motion controller designed for defender in this paper drives every one accurately toward attractive points to form the hunting formation.With the hunting circle narrowing gradually,the intruders will stop.Finally,the method is verified by huge simulations.The proposed methods are feasible and efficient,though observing and analyzing the results of simulations and security of every robot.