抄録
In our lives, there are a lot of situations in which we need to comer the targets. For example, we need to corner the targets in security, shepherding or sports. The purpose of our research is cornering the target by robots in a finite plane. The task is similar to that of pursuit-evasion games. In pursuit-evasion game, the purpose of pursuers is catching evaders. In many researches, they define touching evaders as catching evaders. However, in real situations, the pursuer cannot catch the evader by touching it. Therefore, in our research, we focus on the area that evaders reach faster than pursuers, and the task is that pursuers decrease the evader's area without crash. To accomplish this task, we combine Voronoi diagrams method and artificial potential method to corner the targets in the finite plane. In addition, we conduct simulation experiments with some participants to show the effectiveness of our algorithm.
