A Searching and Tracking Framework for Multi-Robot Observation of Multiple Moving Targets
Zheng Liu*,***, Marcelo H. Ang Jr.**, and Winston Khoon Guan Seah***
*Dept. of Electrical & Computer Engineering
**Dept. of Mechanical Engineering, National University of Singapore
***Institute for Infocomm Research, Singapore
The “museum problem” is a typical research topic on multi-robot observation of multiple moving targets. The objective of museum problem is to optimize the distribution of robots, such that the maximal moving targets can be observed. In this paper, we present our memory based searching and artificial potential field based tracking framework for museum problem. For searching, a memory table, either local or shared, can help shorten the searching time for targets. For tracking, our artificial potential field based motion control provides real-time tracking of moving targets with collision avoidance. Qualitative simulations demonstrate the capability of our searching and tracking framework.