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

C. de Souza (1) , Pedro Castillo Garcia (1) , Boris Vidolov (1)

1 Heudiasyc - Heuristique et Diagnostic des Systèmes Complexes [Compiègne]

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.

Mots clés: hunter drones; autonomous navigation; tracking; pursuit; real-time tests

Domaines: Automatique

C. de Souza, Pedro Castillo Garcia, Boris Vidolov. Local interaction and navigation guidance for hunters drones: a chase behavior approach with real-time tests. Robotica, 2022, 40 (8), pp.2697-2715. ⟨10.1017/S0263574721001910⟩. ⟨hal-03842732⟩