Intelligent Controllers for Multirobot Competitive and Dynamic Tracking

Algorithm 2

Distributed competitive target tracking control for the th mobile robot with limited communication.

Require:

 Position of itself and mobile robot(s) , position and

 velocity of the moving target are 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 variables , ,

 2: repeat

 3: Get , ,

 4: Communicate with mobile robot(s) and get and

 5: Calculate and using the distributed consensus filter (17)

 6: Calculate , , and using (18)

 7: Drive the mobile robot using the generated

 8: until .