Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells
文献类型：期刊论文
| 作者 | Meng Zhou; Zihao Wang; Jing Wang; Zhengcai Cao |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2024 |
| 卷号 | 11期号:7页码:1643-1655 |
| 关键词 | Dynamic obstacle avoidance multi-robot collaborative hunting obstacle-avoiding Voronoi cells task allocation |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.124041 |
| 英文摘要 | 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 obstacles. 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 pursuers and evaders. Some hunting points are generated and distributed 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 containment capability and minimize containment time based on collision risk. Finally, simulation results have demonstrated that the proposed cooperative hunting method is more competitive in terms of time and travel distance. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/57308]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Meng Zhou,Zihao Wang,Jing Wang,et al. Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells[J]. IEEE/CAA Journal of Automatica Sinica,2024,11(7):1643-1655. |
| APA | Meng Zhou,Zihao Wang,Jing Wang,&Zhengcai Cao.(2024).Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells.IEEE/CAA Journal of Automatica Sinica,11(7),1643-1655. |
| MLA | Meng Zhou,et al."Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells".IEEE/CAA Journal of Automatica Sinica 11.7(2024):1643-1655. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。