Intelligent Controllers for Multirobot Competitive and Dynamic Tracking

Figure 7

(Phase 1) With , snapshots for distributed coordination model (19) with limited communications for tracking the moving target and the corresponding tracking trajectories, where initial locations of mobile robots and the moving target are randomly generated. In this sense, at each time instant, ten mobile robots compete with each other for tracking the moving target, and only one of them with the minimum distance from the moving target (the winner) is activated to track while the rest ones (the losers) keep unmoved. At s, as the moving target approaches to one of the losers, the winner at the initial time fails in the competition and becomes a loser marked in black line. As a continuator, the new winner marked in red line begins to track the moving target. (a) Snapshots at s. (b) Snapshots at s. (c) Snapshots at s. (d) Tracking trajectories of different mobile robots.

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