1.College of Electrical and Information Engineering Hunan University Changsha 410082 China 2.College of Information and Electrical Engineering Hunan University of Science and Technology Xiangtan 411201 China 3.College of Mechanical and Electrical Engineering Hunan University of Science and Technology Xiangtan 411201 China
Abstract：A multilayer cooperative self-organizing hunting method,which is based on a simplified virtual-force model,is proposed for nonholonomic multilayer mobile swarm robots hunting in unknown dynamic complex environments.First,the motion models for the hunted target in unknown cluttered environments are designed.Then through researching hunting behavior under cluttered environments,a simplified virtual-force model is formed.Based on the virtual-force model,the control method is designed for swarm robots following motions of barriers and multilayer cooperative hunting the target.The method only needs the location information of the target and two nearest neighbors.So it is easy to be calculated and realized.After that,the stability of the hunting system is analyzed,and the control parameter ranges are obtained.Simulation results for different situations and comparative analyses demonstrate that the proposed method,which can make the group of robots maintain a good multilayer cooperative hunting formation in unknown complex environments,has good performance of obstacles avoidance,high scalability,and flexibility.
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2015, Vol. 30 
