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Local interaction and navigation guidance for hunters drones: a chase behavior approach with real-time tests

Published online by Cambridge University Press:  24 January 2022

C. de Souza ,
P. Castillo Open the ORCID record for P. Castillo [Opens in a new window]  and
B. Vidolov
C. de Souza
Affiliation:
Université de Technologie de Compiègne, CNRS, Heudiasyc (Heuristics and Diagnosis of Complex Systems), CS 60 319 – 60 203 Compiègne Cedex, France
P. Castillo*
Affiliation:
Université de Technologie de Compiègne, CNRS, Heudiasyc (Heuristics and Diagnosis of Complex Systems), CS 60 319 – 60 203 Compiègne Cedex, France
B. Vidolov
Affiliation:
Université de Technologie de Compiègne, CNRS, Heudiasyc (Heuristics and Diagnosis of Complex Systems), CS 60 319 – 60 203 Compiègne Cedex, France
*
*Corresponding author. E-mail: castillo@hds.utc.fr
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Abstract

A behavioral-based strategy for cooperative hunting using drones is proposed in this paper. In this decentralized scheme, each drone acts as an individual agent computing its guidance strategy toward the target based on the relative position of its neighbors without the use of direct communication. The algorithm is based on the deviated pure pursuit methodology, and the emerged behavior mimics a natural hunting formation. Simulations and real-time experiments with varying conditions were carried out to validate the effectiveness of the proposed hunting scheme. Videos of the system in action can be seen on: https://youtu.be/g2dODbd6ZLA.

Keywords

hunter dronesautonomous navigationtrackingpursuitreal-time tests

Information

Type
Research Article
Information
Robotica , Volume 40 , Issue 8 , August 2022 , pp. 2697 - 2715
Copyright
© The Author(s), 2022. Published by Cambridge University Press

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