A behaviour-based algorithm for encirclement of a dynamic target using multiple mobile robots

Abstract

This thesis proposes a behaviour-based algorithm that can coordinate a group of mobile robots to encircle a dynamic target. This algorithm consists of three reactive behaviours for the robots to execute and they are obstacle-avoidance, target-tracking, and target-circumnavigation. By using a neural controller to execute these behaviours, the robots will be able to track a dynamic target and subsequently encircle it. This algorithm has been implemented on both simulation program and physical robots. The performance of this algorithm for different number of robots used and for different speed ratio (target speed / robot speed) is also studied.