| 基于Fast Marching方法的多机器人追捕算法 |
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| 引用本文： | 丁磊,王浩,方宝富,张权益.基于Fast Marching方法的多机器人追捕算法[J].广西师范大学学报(自然科学版),2011,29(3):115-119. |
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| 作者姓名： | 丁磊 王浩 方宝富 张权益 |
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| 作者单位： | 合肥工业大学计算机与信息学院,安徽合肥,230009 |
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| 基金项目： | 国家自然科学基金资助项目(61070131,61075076) |
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| 摘 要： | 多机器人系统的追捕-逃跑问题是人工智能领域一个非常重要的问题.本文为实现多追捕者协作追捕逃跑目标,提出了一种基于Fast Marching方法的多机器人协作追捕策略.追捕过程中,追捕者数量多于逃跑者的情况下,协助追捕者通过构造“活跃区域”与主追捕者的合作,实现一种压迫式的追捕策略.
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| 关 键 词： | 多机器人系统 追捕-逃跑问题 快速推进法 活跃区域 协作与协调 |
Multi-player Pursuit Algorithm Based on Fast Marching Method |
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| DING Lei,WANG Hao,FANG Bao-fu,ZHANG Quan-yi.Multi-player Pursuit Algorithm Based on Fast Marching Method[J].Journal of Guangxi Normal University(Natural Science Edition),2011,29(3):115-119. |
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| Authors: | DING Lei WANG Hao FANG Bao-fu ZHANG Quan-yi |
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| Institution: | DING Lei,WANG Hao,FANG Bao-fu,ZHANG Quan-yi(School of Computer and Information,Hefei University of Technology,Hefei Anhui 230009,China) |
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| Abstract: | The Pursuit-evasion game in Multi-robot system is a very important issue in the field of artificial intelligence.In order to solve the problem of multiple pursuers cooperatively pursuing the evasive targets,a coordinate strategy for multiple pursuers based on Fast Marching Method is proposed.During the pursuit,when the number of pursuers is more than that of evaders.The pursuers without task can be incorporated into the game by constructing Active Regions to achieve a constringent pursuit strategy. |
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| Keywords: | multi-robot system pursuit-evasion game fast marching method active regions collaboration and coordination |
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