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| Ring-around Formation Control of Multi-robot Systems Based on Reinforcement Learning |
| HAN Yilin, WANG Lili, YANG Hongyong, FAN Zhilin
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| School of Information and Electrical Engineering, Ludong University, Yantai 264025, China |
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Abstract For the robot formation tracking problem of unknown target, a robot motion control model is established, and a target tracking and ring-around control strategy based on Reinforcement Learning(RL) is proposed to solve the problem. Driven by RL, the robot explore the location of the target point and initiate tracking. The robot tracking strategy is optimized in real time using the ring-around formation motion model to achieve dynamic tracking and ring-around control of the fleeing target point. A multi-robot motion control environment is established, and the experiments indicate that the combined RL can accelerate the multi-robot formation adjustment time and prove the efficiency of the multi-robot ring-around formation control strategy.
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Received: 12 March 2021
Published: 08 October 2023
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