Collaborative Hunting Strategy for Multi-Amphibious Spherical Robots in Underwater Environment with Obstacles

Shilong Feng1; Shuxiang Guo1,2; Dan Yang1; Ao Li1; He Yin1; Bin Wang3; Mingchao Ding3

10.1109/ICMA61710.2024.10632921

2024-08-07

2152-7431

979-8-3503-8808-4

2024 IEEE International Conference on Mechatronics and Automation (ICMA)

4-7 Aug. 2024

Tianjin, China

Collaborative target hunting by multiple underwater robots in obstacle environment is a challenging task. This study addresses this problem by proposing a cooperative hunting strategy based on an improved artificial potential field to achieve an efficient hunting task. The algorithm combines the perception and decision-making capabilities of the robots to guide the robots to form an effective roundup formation near the target by generating a suitable potential field in the environment. The robot's path is planned at a long distance, and the hunting potential points are assigned after approaching the target point, and finally the hunting of the target point is accomplished. The simulation results show that the method has good adaptability and feasibility in obstacle environments, and can effectively realize the cooperative target hunting task of multiple underwater robots.

其他

1.The Aerospace Center Hospital, School of Life Science and the Key Laboratory of Convergence Medical Engineering System and Healthcare Technology, the Ministry of Industry and Information Technology, Beijing Institute of Technology, Beijing, China
2.The Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
3.The Department of Peripheral Vascular Intervention, Aerospace Center Hospital, School of Life Science, Beijing Institute of Technology, Beijing, China

Shilong Feng,Shuxiang Guo,Dan Yang,et al. Collaborative Hunting Strategy for Multi-Amphibious Spherical Robots in Underwater Environment with Obstacles[C],2024.