In this paper we consider the problem of hunting an unpredictably moving prey using a group of robots. We elaborate a mathematical model for the tracking-navigation problem based on geometric rules. This model consists of systems of two differential equations describing the relative motion of the prey with respect to the robots. The control laws are decentralized and the robots move in different modes, namely: navigation-tracking mode, obstacles avoidance mode, cooperative collision avoidance, and circle formation. In the tracking-navigation mode, we use the deviated pursuit strategy, which consists of a closed loop control law based on geometric rules. The properties of this strategy are explored briefly. For obstacles and cooperative collision avoidance, a collision cone approach is used. Our method is illustrated using simulation.
|Original language||English (US)|
|Number of pages||6|
|Journal||Conference Proceedings - IEEE International Conference on Systems, Man and Cybernetics|
|State||Published - 2005|
|Event||IEEE Systems, Man and Cybernetics Society, Proceedings - 2005 International Conference on Systems, Man and Cybernetics - Waikoloa, HI, United States|
Duration: Oct 10 2005 → Oct 12 2005
All Science Journal Classification (ASJC) codes