Coordinated multi-robot target hunting based on extended cooperative game

This paper applies game theory to multi-robot hunting target problem. A coordinated multi-robot hunting model based on extended cooperation game is established. And obstacle avoidance model and two kinds of target searching strategies--roaming search and regional search are proposed. Then an effective escape strategy for the target is also presented. Finally the whole process of the hunting task is analyzed. The hunting algorithm using non-formation movement to execute the task is more flexibly. The simulation verifies the feasibility of the method.