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首页> 外文期刊>Applied Soft Computing >A new moving target interception algorithm for mobile robots based on sub-goal forecasting and an improved scout ant algorithm
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A new moving target interception algorithm for mobile robots based on sub-goal forecasting and an improved scout ant algorithm

机译：基于子目标预测的移动机器人运动目标拦截新算法和改进的侦察蚁算法

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It is difficult to make a robot intercept a moving target, whose trajectory and speed are unknown and dynamically changing, in a comparatively short distance when the environment contains complex objects. This paper presents a new moving target interception algorithm in which the robot can intercept such a target by following many short straight line trajectories. In the algorithm, an intercept point is first forecasted assuming that the robot and the target both move along straight line trajectories. The robot rapidly plans a navigation path to this projected intercept point by using the new ant algorithm. The robot walks along the planned path while continuously monitoring the target. When the robot detects that the target has moved to a new grid it will re-forecast the intercept point and re-plan the navigation path. This process will be repeated until the robot has intercepted the moving target. The simulation results have shown that the algorithm is very effective and can successfully intercept a moving target while moving along a relatively short path no matter whether the environment has complex obstacles or not and the actual trajectory of the moving target is a straight line or a complex curve.
机译：当环境中包含复杂物体时，很难在相对短的距离内使机器人拦截运动轨迹，速度和轨迹未知且动态变化的运动目标。本文提出了一种新的运动目标拦截算法，其中机器人可以通过遵循许多短直线轨迹来拦截此类目标。在该算法中，首先假设机器人和目标都沿直线轨迹移动，然后预测一个拦截点。机器人使用新的蚂蚁算法快速规划了到该投影拦截点的导航路径。机器人沿着计划的路径行走，同时连续监视目标。当机器人检测到目标已移动到新网格时，它将重新预测拦截点并重新计划导航路径。重复此过程，直到机器人拦截了移动目标。仿真结果表明，该算法非常有效，无论环境是否存在复杂的障碍物，且移动目标的实际轨迹是直线还是复杂，在沿较短路径移动时都能成功拦截目标。曲线。

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