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

doi:10.1109/JAS.2023.124041

CASIA OpenIR > 学术期刊 > IEEE/CAA Journal of Automatica Sinica

	Multi-Robot Collaborative Hunting in Cluttered Environments With Obstacle-Avoiding Voronoi Cells
	Meng Zhou; Zihao Wang; Jing Wang; Zhengcai Cao
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2024
卷号	11 期号:7 页码:1643-1655
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.
关键词	Dynamic obstacle avoidance multi-robot collaborative hunting obstacle-avoiding Voronoi cells task allocation
DOI	10.1109/JAS.2023.124041
引用统计
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/57308
专题	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.

条目包含的文件		下载所有文件
文件名称/大小	文献类型	版本类型	开放类型	使用许可
JAS-2023-0597.pdf（3022KB）	期刊论文	出版稿	开放获取	CC BY-NC-SA	浏览下载