| 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
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| Department | 海洋信息技术装备中心 |
| Conference Name | OCEANS 2019 Marseille |
| Conference Date | June 17-20, 2019 |
| Conference Place | Marseille, France |
| Source Publication | OCEANS 2019 Marseille |
| Publisher | IEEE |
| Publication Place | New York |
| 2019 | |
| Pages | 1-8 |
| Contribution Rank | 1 |
| ISBN | 978-1-7281-1450-7 |
| Keyword | RRT Cooperative pursuit strategy Multiple underwater robots |
| Abstract | 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. |
| Language | 英语 |
| Document Type | 会议论文 |
| Identifier | http://ir.sia.cn/handle/173321/26042 |
| Collection | 海洋信息技术装备中心 |
| Corresponding Author | Jia QY(贾庆勇) |
| Affiliation | 1.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. |
| Files in This Item: | ||||||
| File Name/Size | DocType | Version | Access | License | ||
| A Novel Cooperative （996KB） | 会议论文 | 开放获取 | CC BY-NC-SA | View Application Full Text | ||
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