Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells

扫码查看

原文链接

国家科技期刊平台
NETL
NSTL
万方数据

外文摘要：This work proposes an online collaborative hunting strategy for multi-robot systems based on obstacle-avoiding Voronoi cells in a complex dynamic environment.This involves firstly designing the construction method using a support vector machine(SVM)based on the definition of buffered Voronoi cells(BVCs).Based on the safe collision-free region of the robots,the boundary weights between the robots and the obstacles are dynamically updated such that the robots are tangent to the buffered Voronoi safety areas without intersecting with the obsta-cles.Then,the robots are controlled to move within their own buffered Voronoi safety area to achieve collision-avoidance with other robots and obstacles.The next step involves proposing a hunting method that optimizes collaboration between the pur-suers and evaders.Some hunting points are generated and dis-tributed evenly around a circle.Next,the pursuers are assigned to match the optimal points based on the Hungarian algorithm.Then,a hunting controller is designed to improve the contain-ment capability and minimize containment time based on colli-sion risk.Finally,simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance.

外文关键词：

Dynamic obstacle avoidancemulti-robot collabora-tive huntingobstacle-avoiding Voronoi cellstask allocation

作者：

Meng Zhou、Zihao Wang、Jing Wang、Zhengcai Cao

展开 >

作者单位：

School of Electrical and Control Engineering,North China University of Technology,Beijing 100144,China

College of Information Science and Technology,Beijing University of Chemical Technology,Beijing 100029,China

基金：

National Natural Science Foundation of ChinaNational Natural Science Foundation of ChinaProject of Cultivation for Young Topmotch Talents of Beijing Municipal Institutions

项目编号：

6227300761973023BPHR202203032

出版年：

2024

DOI：

10.1109/JAS.2023.124041

自动化学报(英文版)

中国自动化学会,中国科学院自动化研究所,中国科技出版传媒股份有限公司

自动化学报(英文版)

CSTPCDEI

ISSN：2329-9266

年,卷(期)：2024.11(7)