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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)1,2; Feng XS(封锡盛)1,2; Gu HT(谷海涛)1,2
Department海洋信息技术装备中心
Conference NameOCEANS 2019 Marseille
Conference DateJune 17-20, 2019
Conference PlaceMarseille, France
Source PublicationOCEANS 2019 Marseille
PublisherIEEE
Publication PlaceNew York
2019
Pages1-8
Contribution Rank1
ISBN978-1-7281-1450-7
KeywordRRT Cooperative pursuit strategy Multiple underwater robots
AbstractA 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.
Language英语
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/26042
Collection海洋信息技术装备中心
Corresponding AuthorJia QY(贾庆勇)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, Liaoning Province 110016, China
2.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China
3.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Jia QY,Xu HL,Feng XS,et al. A Novel Cooperative Pursuit Strategy in Multiple Underwater robots[C]. New York:IEEE,2019:1-8.
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