A Novel Cooperative Pursuit Strategy in Multiple Underwater robots
文献类型：会议论文
| 作者 | Jia QY(贾庆勇)1,2,3 ; Xu HL(徐红丽)1,3; Feng XS(封锡盛)1,3; Gu HT(谷海涛)1,3
|
| 出版日期 | 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 |
| 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.Institutes for Robotics and Intelligent Manufacturing, Chinese Academy of Sciences, Shenyang, 110016, China 2.University of Chinese Academy of Sciences, Beijing 100049, 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. |
入库方式： OAI收割
来源：沈阳自动化研究所
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