Research on Synergy Pursuit Strategy of Multiple Underwater Robots

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	Research on Synergy Pursuit Strategy of Multiple Underwater Robots
	Feng XS(封锡盛)2 ; Li GN(李冠男)1,2 ; Xu HL(徐红丽)2 ; Jia QY(贾庆勇)1,2 ; Gu HT(谷海涛)2
刊名	Journal of Intelligent and Robotic Systems: Theory and Applications
	2019
页码	1-22
关键词	Synergy control Pursuit strategy Semicircular encirclement Finite state machine Multiple underwater robots
ISSN号	0921-0296
产权排序	1
英文摘要	This paper presents a synergy pursuit strategy that multiple underwater robots pursue a single moving target based on finite state machine. The processes of the pursuit are defined as seven different states, and to implement each state, the corresponding strategies are designed. As the strategy for each state is implemented by a corresponding formation control, a synergy control law is also designed for multiple underwater robots. In the design of the pursuit strategy, the definition of encirclement is put forward for the underwater robots. Furthermore, the proof that a point is encircled by other points on the plane is given. To solve the problem of the concealment in the tracking and the pursuit, a semicircular pursuit strategy and a circular pursuit strategy are also proposed. Finally, based on this pursuit strategy, the simulation of whole process is carried out with the MOOS(Mission Oriented Operating Suite) platform, and the effectiveness of the semicircular and circular pursuit strategy are verified by lake experiment with practical robots. The results of simulation and lake experiment prove that this pursuit strategy can realize synergy tracking and pursuit for a single moving target under the given conditions.
语种	英语
内容类型	期刊论文
源URL	[http://ir.sia.cn/handle/173321/24672]
专题	沈阳自动化研究所_海洋信息技术装备中心
通讯作者	Jia QY(贾庆勇)
作者单位	1.University of Chinese Academy of Sciences, Beijing 100049, China 2.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
推荐引用方式 GB/T 7714	Feng XS,Li GN,Xu HL,et al. Research on Synergy Pursuit Strategy of Multiple Underwater Robots[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2019:1-22.
APA	Feng XS,Li GN,Xu HL,Jia QY,&Gu HT.(2019).Research on Synergy Pursuit Strategy of Multiple Underwater Robots.Journal of Intelligent and Robotic Systems: Theory and Applications,1-22.
MLA	Feng XS,et al."Research on Synergy Pursuit Strategy of Multiple Underwater Robots".Journal of Intelligent and Robotic Systems: Theory and Applications (2019):1-22.