Target hunting control method and system based on swarm robots

Abstract

The invention relates to the technical field of robots, in particular to a target hunting control method and system based on swarm robots, and the method comprises the steps: initializing pheromones and robot positions in an environment map, and detecting an execution environment, so as to update the pheromones in the environment map, determining a motion path according to the updated pheromones and an anti-ant colony algorithm; when the robot detects a target or follows pheromones, calculating the displacement change of the target in a past period of time by detecting the change of pheromoneconcentration, adaptively adjusting the movement speed and direction of the robot based on a tracking algorithm so as to keep tracking of the target, and generating feature points through pheromone concentration; and determining a group aggregation form according to the feature points, and controlling the swarm robots to arrive at the generated group aggregation form so as to hunt at least one target. Target search and hunting can be realized in an unknown environment and under the condition of limited communication.

Description

technical field [0001] The invention relates to the technical field of robots, in particular to a control method and system for rounding up targets based on group robots. Background technique [0002] In recent years, the problem of target search and round-up in unknown environments has attracted more and more attention from academic circles. The ability of a single robot to handle complex tasks is generally considered limited, while multi-robot systems can cooperate to complete complex tasks through local interactions. Compared with single-robot systems, multi-robot systems have the advantages of strong adaptability, strong scalability, and high reliability. Due to these factors, swarm robot-based target search and round-up systems have many real-world applications, such as post-disaster search and rescue of survivors, deployment of mobile sensor networks, area coverage and collaboration, interception escort missions, and small air vehicle formation flying, etc. [0003] ...

AI Technical Summary

Problems solved by technology

The existing swarm robot target search and round-up methods are usually computationally complex, and the hardware performance of a single robot cannot meet the execution speed of the software, thereby reducing the execution efficiency, and it is difficult to simultaneously realize the two different types of tasks of target search and target round-up; many methods are based on Some unrealistic assumptions, such as reliable communication links, precise self-positioning systems, known environmental information, and even some methods require the existence of a central coordination controller to uniformly control the movement of group robots

In some environments that cannot provide a reliable communication link and self-positioning communication denial, the robot will not be able to complete the search and capture of the target

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