Research On Hunting Cooperation Control Of Multi-robots

The robotics is widely used in the fields of services,manufacturing,military reconnaissance,safety and fire,traffic,social infrastructure and medical machine.A single robot cannot satisfy the new demand with the feature of rapid change and promotion.Multi-Robots technology begin to develop in the new environment and now has become an important branch in the field of robotics research.Multi-robots hunting is a classic example for studying multi-robots technology.In this topic,principle analysis and simulation research is done in the information acquisition and processing,task allocation,motion planning and coordination,the main research content is as follows:1.The multi-robots sensor networks is built to finish the information collection.The clustering fusion method based on BP neural network algorithm is used to process large amounts of information gained.2.The market mechanism is selected for task allocation,contrary to the mission requirements of multi-robots hunting,the incentive mechanisms are added to improve the effective utilization of multi-robots systems.3.The A* and the artificial potential field method is adopted to solve corresponding collision avoidance path planning with a performance index of minimum-hunting time for static and dynamic hunting.The back-stepping method is used to achieve the rapid and accurate tracking.The leader-follower method is utilized for formation control,finally the destination of hunting is achieved.