Coordination of multiple mobile robots with limited communication range in pursuit of single mobile target in cluttered environment-在混乱的环境中，对多个移动机器人进行协调，以实现单一移动目标。.pdfVIP

J Control Theory Appl 2010 8 (4) 441–446 DOI 10.1007/s11768-010-8212-1 Coordination of multiple mobile robots with limited communication range in pursuit of single mobile target in cluttered environment Jianying ZHENG 1, Haibin YU 2 , Meng ZHENG 2 , Wei LIANG 2 , Peng ZENG 2 (1.School of Urban Trail Transportation, Soochow University, Suzhou Jiangsu 215006, China; 2.Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang Liaoning 110016, China) Abstract: This paper addresses the problem of coordinating multiple mobile robots in searching for and capturing a mobile target, with the aim of reducing the capture time. Compared with the previous algorithms, we assume that the target can be detected by any robot and captured successfully by two or more robots. In this paper, we assume that each robot has a limited communication range. We maintain the robots within a mobile network to guarantee the successful capture. In addition, the motion of the target is modeled and incorporated into directing the motion of the robots to reduce the capture time. A coordination algorithm considering both aspects is proposed. This algorithm can greatly reduce the expected time of capturing the mobile target. Finally, we validate the algorithm by the simulations and experiments. Keywords: Multirobot system; Distributed control; Mobile network; Probabilistic strategy; Limited communication range; Target tracking; Coordinated control 1 Introduction get. The second is that each robot ha