Research on Multi-robot Pursuit Control Based on Distributed Intelligent Algorithm

Abstract

The coordinated control of multi-robot systems is a hot research topic in robot control in recent years. This paper mainly focuses on the coordinated control of multi-robot pursuit and evasion task, and analyzes the motion strategy of both sides in the obstacle environment. Firstly, a task allocation model based on distribution is established. Secondly, the pilot-following method is used to determine the formation pursuit strategy of the pursuit robots, and the moving target points of the pursuit robots are solved in the barrier-free environment based on differential games. Finally, the obstacle avoidance angle is analyzed and calculated according to the sensor information, and the real-time motion strategy of each robot is obtained by combining the fuzzy logic algorithm. The simulation results show that the distributed intelligent fusion algorithm can complete the pursuit task in real time efficiently, and the pursuit robot can maintain a certain formation during the pursuit process. The research results are not only applicable to the problem of multi-robot pursuit, but also have certain reference significance for the analysis of pursuit tasks in UAV and military field.