RESUMO
In order to deal with the multi-target search problems for swarm robots in unknown complex environments, a multi-target coordinated search algorithm for swarm robots considering practical constraints is proposed in this paper. Firstly, according to the target detection situation of swarm robots, an ideal search algorithm framework combining the strategy of roaming search and coordinated search is established. Secondly, based on the framework of the multi-target search algorithm, a simplified virtual force model is combined, which effectively overcomes the real-time obstacle avoidance problem in the target search of swarm robots. Finally, in order to solve the distributed communication problem in the multi-target search of swarm robots, a distributed neighborhood communication mechanism based on a time-varying characteristic swarm with a restricted random line of sight is proposed, and which is combined with the multi-target search framework. For the swarm robot kinematics, obstacle avoidance, and communication constraints of swarm robots, the proposed multi-target search strategy is more stable, efficient, and practical than the previous methods. The effectiveness of this proposed method is verified by numerical simulations.