This paper mainly discusses the pursuit-evasion games, in which a team of autonomous mobile robots act as pursuers to pursue multiple moving targets cooperatively. In order to reduce the communication load during the task negotiation process, the auction mechanism in Economics was introduced, and an improved task negotiation process based on Multi-Unit Combinatorial Auction was proposed. It allocated task dynamically through capability classification and independent competition. A kind of multi-robot cooperative pursuit algorithm that allows dynamic alliance is proposed. Simulation results show the feasibility and validity of the given algorithm.


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    Title :

    Multi-robot cooperative pursuit based on Combinatorial Auction mechanism under dynamic environment


    Contributors:
    Cai Ze-Su, (author) / Sun Li-Ning, (author) / Gao Hai-Bo, (author) / Zhou Pu-Cheng, (author)


    Publication date :

    2008-12-01


    Size :

    3087845 byte




    Type of media :

    Conference paper


    Type of material :

    Electronic Resource


    Language :

    English



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