A Novel Cooperative Pursuit Strategy in Multiple Underwater robots

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	A Novel Cooperative Pursuit Strategy in Multiple Underwater robots
	Jia QY(贾庆勇)1,2,3 ; Xu HL(徐红丽)2,3 ; Feng XS(封锡盛)2,3 ; Gu HT(谷海涛)2,3
	2019
会议日期	June 17-20, 2019
会议地点	Marseille, France
关键词	RRT Cooperative pursuit strategy Multiple underwater robots
页码	1-8
英文摘要	A novel cooperative pursuit strategy for multiple underwater robots is proposed in this paper. In this pursuit strategy, the pursuit-evasion game is studied in two stages. In the first stages, when the target keeps the static state, the rapidly-exploring random tree (RRT) search algorithm is used to realize the real-time path replanning for multiple underwater robots, so as to avoid the target detection range and reach the desired pre-capture position. Therefore, the concealed problem of encircling the static target is solved. In the second stages, when multiple underwater robots enter into the target detection range, the target will start to escape. In order to solve the problem of capturing a moving target, the cooperative control law for multiple underwater robots is proposed. A circular formation is formed to pursue the target using the cooperative control law so that the capture error can meet a certain performance indexes. Finally, the simulation results show the effectiveness and feasibility of the proposed cooperative pursuit strategy.
产权排序	1
会议录	OCEANS 2019 Marseille
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISBN号	978-1-7281-1450-7
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/26042]
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.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China 3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province 110016, China
推荐引用方式 GB/T 7714	Jia QY,Xu HL,Feng XS,et al. A Novel Cooperative Pursuit Strategy in Multiple Underwater robots[C]. 见:. Marseille, France. June 17-20, 2019.