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
Source PublicationIEEE/CAA Journal of Automatica Sinica
ISSN2329-9266
2024
Volume11Issue:7Pages:1643-1655
AbstractThis 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.
KeywordDynamic obstacle avoidance multi-robot collaborative hunting obstacle-avoiding Voronoi cells task allocation
DOI10.1109/JAS.2023.124041
Citation statistics
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/57308
Collection学术期刊_IEEE/CAA Journal of Automatica Sinica
Recommended Citation
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.
Files in This Item: Download All
File Name/Size DocType Version Access License
JAS-2023-0597.pdf(3022KB)期刊论文出版稿开放获取CC BY-NC-SAView Download
Related Services
Recommend this item
Bookmark
Usage statistics
Export to Endnote
Google Scholar
Similar articles in Google Scholar
[Meng Zhou]'s Articles
[Zihao Wang]'s Articles
[Jing Wang]'s Articles
Baidu academic
Similar articles in Baidu academic
[Meng Zhou]'s Articles
[Zihao Wang]'s Articles
[Jing Wang]'s Articles
Bing Scholar
Similar articles in Bing Scholar
[Meng Zhou]'s Articles
[Zihao Wang]'s Articles
[Jing Wang]'s Articles
Terms of Use
No data!
Social Bookmark/Share
File name: JAS-2023-0597.pdf
Format: Adobe PDF
All comments (0)
No comment.
 

Items in the repository are protected by copyright, with all rights reserved, unless otherwise indicated.