A New Approach of Multi-Robot Cooperative Pursuit Based on Association Rule Data Mining

[摘要] An approach of cooperative hunting for multiple mobile targets by multi-robot is presented, which divides the pursuit process into forming the pursuit teams and capturing the targets. The data sets of attribute relationship is built by consulting all of factors about capturing evaders, then the interesting rules can be found by data mining from the data sets to build the pursuit teams. Through doping out the positions of targets, the pursuit game can be transformed into multi-robot path planning. Reinforcement learning is used to find the best path. The simulation results show that the mobile evaders can be captured effectively and efficiently, and prove the feasibility and validity of the given algorithm under a dynamic environment.

[学科分类] 自动化工程

[关键词] multiagent system;multi-robot;pursuit problem;association rule;Q-learning