摘要： 为实现多个机器人合作追捕目标机器人，以基于运动图式的反应式控制结构为基础，设计追捕机器人的4种基本行为：奔向目标，避开障碍物，避让队友以及收缩包围，为避免机器人陷入死锁状态，引入随机漫游行为。通过基本行为的矢量合成和机器人之间的局部交互作用，实现多机器人的协作行为。仿真试验验证了该方法的有效性。

关键词: 运动图式, 追捕问题, 基于行为的控制, 多机器人系统

Abstract: To solve the problem that a group of robots cooperatively pursue a target robot, based on motor schema-based reactive control architecture, four basic behaviors including move-to-goal, avoid-obstacle, avoid-teammate and shrink-surround are designed for each pursuing robot. To prevent each robot from deadlock state, random-wander behavior is introduced. Through vector synthesis of these basic behaviors and local interaction among robots, multi-robot collaborative behavior is achieved. The validity of the approach is verified by simulation experiments.

Key words: motor schema, pursuit problem, behavior-based control, multi-robot system

中图分类号: 

• TP18