Cooperative multiple mobile targets capturing algorithm for robot troops

The existing pursuit researches focus only on the single evader situation, and is imposed some limitations such as the evader has either slower speed or smaller view-field than that of the pursuer; the evader can only evades randomly; the evader and the pursuer move by turns. For this problem, a new cooperative multiple mobile targets capture algorithm (CMMTCA) is proposed. In the CMMTCA, the evaders have the same speed and view-field as those of the pursuers, and both of them move intelligently and simultaneously. According to the different types of the evaders, firstly the pursuers execute the moving targets commitments generating algorithm (MTCGA) to form sub-group dynamically, and then the sub-groups pursuit the committed targets cooperatively following the CMMTCA. The simulation results show that the intelligent evaders can be captured effectively and efficiently, and the low complexity of CMMTCA justifies its real-time implementation on the robots under dynamic environment.