1 A POTENTIAL FIELD BASED APPROACH FOR MULTI-ROBOT TRACKING OF MULTIPLE MOVING TARGETS

The “Museum ” problem is a typical problem of collaborative multi-robot tracking of multiple moving targets (CMTMMT). The objective is to achieve collective tracking of multiple targets by multiple robots. In this paper, we present our conditional-weighted potential field based control algorithm to solve this problem. The essence of this algorithm is to make the robots move under the vector sum of the local forces imposed on it while encouraging collaboration. Additionally, some modifications are done to improve the performance. The simulation of our algorithm shows satisfactory performance and ability to achieve collective tracking in museum problem. Key Words – multi-robot, multiple targets, potential field, tracking, collective robotic