Intelligent Controllers for Multirobot Competitive and Dynamic Tracking

Figure 5

(Phase 2) As the continuation of simulation results shown in Figure 4, this figure shows the tracking trajectory and snapshots for centralized model (12) with all-to-all communications for moving target tracking and initial locations of mobile robots being the same as those in Figure 4(c) and the initial location of moving target being generated randomly. Ten mobile robots compete with each other for tracking the moving target, and only two of them with the minimum distance from the moving target (the winners) are activated to track while the rest ones (the losers) keep unmoved. (a) The snapshot at s. (b) The snapshot at s. (c) The snapshot at s. (d) Tracking trajectories of different mobile robots.

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