Hunting Algorithm for Multi-mobile Robot System Based on Virtual Range
Zong Guanghua · Acta Aeronautica Et Astronautica Sinica · 2007
At first,the method of constructing a grid map is discussed by using SQL server database.Secondly,the path planning based on potential grid method is presented for a multi-mobile robot system.The deadpoint and planning failure problems are analyzed when the potential grid method is used in a known map,and the answer is presented.Furthermore,according to the potential grid method,the strategy of cooperatively hunting a dynamic object is discussed for the multi-mobile robot system.The concept of Virtual Range are presented to reduce the times of dynamic path planning and increase the hunting speed,which is suitable for robots moving in the outdoor environment.The Virtual Range is used as a criterion to trigger the change of the robot states which are respectively introduced.Furthermore,a real mult-mobile robot system based on wireless LAN is used to validate the algorithm.The test result shows that a reasonable Virtual Range can shorten the surrounding time,and that there is a best Virtual Rang for a certain multi-mobile robot system.