Research On Multi-robot Collaborative Control For Multi-target Hunt

The problem of cooperative control of Multi-robot system has been a hot issue of Multi-robot research.To improve the efficiency and quality of Multi-robot system through the research on the cooperative control of Multi-robot system.In this paper,we study the Multi-robot system to complete the pursuit task efficiently based on Multi targets pursuit model.According to the research,there are still some problems in the cooperative control of Multirobot systems,such as: The current research does not reduce the amount of communication as far as possible to ensure the basic communication in the Multi-robot system task allocation phase;At present,the research of Multi-robot is in the stage of simulation,especially the research of Multi-robot in our country,which makes it difficult to study the depth of Multi-robot system.Aiming at the above problems,this paper designs a simulation platform for Multi-robot capture problem,and proposes a dynamic task allocation algorithm with bilateral selective in Multi-robot capture to solve the traffic problem,according to the research of the Multi-robot system to achieve a near the airport runway intelligent bird driving system.The main contents of this paper are as follows:(1)Aiming at the problem of excessive communication in Multi-robot system task allocation,A novel dynamic task allocation approach bilateral selective mechanisms based on Contract Net Protocol is creatively proposed,which focuses on reducing the communication load during the task negotiation process.(2)For the existing airport birds driving drawbacks,we present a method of birds driving to train them to fly away from airport area when Birds driving device sends which the sound of a plane taking off.(3)To solve some problems of Multi-robot simulation system now exist,we design a cooperative Multi-robot pursuit simulation platform and experimental analysis is carried out on this platform...