Univector Field Method Based Multi-robot Navigation for Pursuit Problem

Conference paper
Part of the Advances in Intelligent and Soft Computing book series (AINSC, volume 113)

Abstract

This paper introduces a new approach to solve the pursuit problem based on a univector field method. In our proposed method, a set of robots work together instantaneously to find suitable moving directions and follow the univector field to surround and capture a prey robot. In addition, a set of strategies is proposed to make the pursuit problem more realistic in the real world environment. This is a general approach based on univector field, and it can be extended for an environment that contains static or moving obstacles. Experimental results show that our proposed algorithm is effective for the pursuit problem.

Keywords

univector field predator robots prey robot pursuit problem 

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Copyright information

© Springer-Verlag Berlin Heidelberg 2012

Authors and Affiliations

  • Hoang Huu Viet
    • 1
  • Sang Hyeok An
    • 1
  • TaeChoong Chung
    • 1
  1. 1.Artificial Intelligence Lab, Department of Computer Engineering, School of Electronics and InformationKyung Hee UniversityYonginSouth Korea

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