逃亡者を追い込むロボットの制御アルゴリズム

抄録

We have constructed the pursuit-evasion algorithm which enables security robots to corner a fugitive. In this paper, following on from our latest study, we develop the new pursuing algorithm to corner the fugitive with two security robots. To develop the pursuing algorithm, we focus on two behaviors which are decreasing the area where the fugitive is able to reach faster than the security robots and preventing the fugitive from heading for the exit. The evaluation function and voronoi diagram are used to achieve these behaviors. Moreover, to avoid collisions between the security robots and the fugitive, we combine these methods with artificial potential method. We conduct the simulation experience and compare our algorithm with our latest study to show effectiveness.