Intelligent Controllers for Multirobot Competitive and Dynamic Tracking

Algorithm 1

Centralized competitive target tracking control for the th mobile robot with all-to-all communication.

Require:

 Position of all mobile robots, position and velocity of

 the moving target are all available to the th mobile robot, a preset

 distance tolerant

Ensure:

 The mobile robots with the minimum distance from the moving

 target approach the latter and the rest ones keep unmoved

 1: Initialize variable

 2: repeat

 3: Get , ,

 4: Communicate with all the other mobile robots and get

   ,

 5: Calculate , , and using (11)

 6: Drive the th mobile robot using the generated

 7: until .