Research On The Artificial Moment Method For Multi-robot Cooperative Hunting

With the development of mobile robot technology rapidly and the demand of people, the robots need to complete the task is much more complicated and changeable. However, the finite capacity of single robot cannot meet the requirements of people, so many robots cooperation become an urgent problem need to solve and improving collaboration technology. Multi-robot cooperation rounded up is an important problem in the multi-robot system, this paper puts forward the problem a rounded up algorithm based on artificial torque, and using matlab language simulation have been carried out to verify the proposed algorithm. In this paper, the main contribution has the following several aspects:First of all, in the article introduces the developmental status of cooperation to round up the multi-robot system, analyzes the rounding up the problems existing in the process and the limitations of existing methods, and on the basis of combining multi-robot stalking behavior research group in the system characteristics of self-organizing algorithm, and then puts forward the method based on artificial torque of multi-robot hunting method.Secondly, from the multi-robot stalking behavior, this paper first gives the individual robot model and correlation function definition. Then based on the given definition and system model, the invaders in different state of motion model is given,and the alliance between multiple invaders. According to the model of the invaders,this paper gives the definition and function of the round curve, and algorithm, and then to round up the robot attractive point according to the position of round curve,and according to the detection range of environmental information to adjust the attractive point.Finally, this paper based on the characteristics of the artificial moment method,the constantly adjust movement control scheme of hunting robot is given according to the change of environment information, then presents many hunting robots round up a single robot invaders and multiple invader algorithm, then the algorithm was improved, making algorithm more efficient. Through analysis and discuss the results of simulation prove that the method given in this paper, based on the artificial moment method about the organization method for multi-robot cooperation stalking is feasible and efficient.