The Targets Pursuit for Multi-robot System with Hybrid Wireless Sensor Networks

This paper gives a targets pursuit approach for multi-robot system in a multi-region workspace with the help of hybrid wireless sensor networks, which comprises static sensor nodes and mobile sensor nodes. The layout of hybrid wireless sensor networks are firstly presented, and the static nodes network adopts multi-target tracking based on dynamic cluster with the constraints of K-level and communication cost. Considering the hollow zones and multiple-region division, cooperative target tracking with both static and mobile sensor nodes as well as multi-region joint target tracking is designed. Based on the obtained targets information, the pursuit task is executed by the robots, which is verified by the simulations.