Research on moving-target search strategies for multiple robots

In order to overcome the problem of multiple robots cooperative search for the moving targets under the unknown environment, the concepts of the searching expectation value and the searching gain are introduced. The four heuristic search strategies of local-max search, global-max search, subregional local-max search and subregional global-max search are presented. Using the average capture time as the performance metric, the proposed search strategies are tested under different simulation parameter settings. Simulation results show that the proposed search strategies far exceed the random search strategy.