Bang-bang control strategy-based optimal time tracking and capturing system and method

Abstract

The invention discloses a Bang-bang control strategy-based optimal time tracking and capturing system and a Bang-bang control strategy-based optimal time tracking and capturing method. The system comprises a positioning module, a decoupling module, a communication module, an algorithm analysis module and a pursuit robot control module, wherein the positioning module, the decoupling module, the communication module, the algorithm analysis module and the pursuit robot control module are connected in turn. By the Bang-bang control strategy-based optimal time tracking and capturing system, a control algorithm is applied to an intelligent-agent robot for tracking and capturing an invader, the capturing time is the shortest under the condition that the invader linearly moves, the invader and a pursuer are positioned through visual information, the acquired position information is transmitted to a pursuit robot through wireless sensor node communication, and a rule of applying controlled quantity is obtained by the pursuit robot through algorithm analysis so as to control the pursuit robot itself and finish tracking and capturing.

Description

technical field [0001] The present invention relates to the technical field of control systems, in particular to an optimal time tracking capture system and method based on a Bang-bang control strategy. Background technique [0002] Pursuit-Evasion Game (PEG) consists of two players, a chaser and an escaper. The chaser tries to capture the escaper, and the escaper tries to avoid capture. PEG is a mathematical description of many practical problems, such as missile attack aircraft, target rescue, target monitoring, mobile robot tracking and capture of intruders who invade the target area, etc. [0003] In recent years, research on PEG has shifted from the establishment and analysis of theoretical mathematical models to practical applications. Applying PEG theory combined with the control of intelligent robots to target tracking and capture is a field of research. Target tracking and capture means that when the intruder enters the monitoring area, the chaser robot tracks th...

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Problems solved by technology

[0005] However, the above articles are only analyzed theoretically, and the establishment of the model requires many restrictive conditions, and there is still a certain gap with the actual application.

The Chinese patent application number is 200810119587.2, and the patent application titled "a robot target tracking method based on feasible channels" discloses a robot target tracking method, which establishes a practical target tracking system, but does not apply theoretical control Algorithms, cannot theoretically guarantee the optimal tracking time

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