Study on multi-robot pursuit system countermeasures

In order to capture the evader quickly, this paper proposes the pursuit system based on artificial immune networks model. In this system, we simulated the evader as an antigen, the evader´s behavior as the antigen response, the pursuer as a B cell, the pursuer´s behavior as the antibody. In order to capture the evader quickly, robots cooperate with each other to constitute a valid encirclement. In the algorithm this collaborative relationship is shown as stimulation and suppression effect between antibodies. Simulation experiment results verify multi-robot can pursuit the evader quickly by application of the algorithm.