Coordinated control of multiple mobile robots in pursuit-evasion games

Authors:
Feifei Huang;Long Wang;Qining Wang;Ming Wu;Yingmin Jia
Affiliations:
Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing, China;Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing, China;Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing, China;Intelligent Control Laboratory, Center for Systems and Control, College of Engineering, Peking University, Beijing, China;Seventh Research Division, Beijing University of Aeronautics and Astronautics, Beijing, China
Venue:
ACC'09 Proceedings of the 2009 conference on American Control Conference
Year:
2009

Citing 3
Cited 0

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Abstract

This paper considers the scenario that a team of autonomous robots pursues a smart evader while concurrently building a global map in an unknown environment. We develop a modular hybrid system architecture to implement the decentralized control and coordination of multiple pursuers. A probabilistic framework is established to integrate the map building process with evader detection. Taking account of the nonholonomic constraints of vehicles, we improve the global-max pursuit policy with a novel underlying navigation method. Experimental results with physical robots demonstrate the effectiveness of our approach.