TY - GEN
T1 - Research on Target Encirclement Strategy of Amphibious Spherical Robots in 3D Underwater Environments
AU - Yang, Dan
AU - Shi, Liwei
AU - Guo, Shuxiang
AU - Feng, Shilong
N1 - Publisher Copyright:
© 2023 IEEE.
PY - 2023
Y1 - 2023
N2 - The cooperative trapping of multiple amphibious robots in a 3D underwater environment is a comprehensive research topic that mainly includes the generation of dynamic alliances for trapping and path planning. To address this problem, this paper first proposes a 'trap point occupancy strategy' to realize the generation of dynamic alliances among multiple robots during the trapping process. Secondly, based on this, an improved gray wolf algorithm is proposed in this paper to implement robot target guidance and adaptive obstacle avoidance functions, used for the path planning of the robot's arrival at the trapping point during the trapping process, thus completing the entire trapping task. Then, this paper conducts simulation experiments in a 3D underwater environment with static obstacles, and the results confirm that the proposed cooperative trapping algorithm has high efficiency and robustness. Finally, the innovations and all the work in the article are summarized, and prospects are put forward.
AB - The cooperative trapping of multiple amphibious robots in a 3D underwater environment is a comprehensive research topic that mainly includes the generation of dynamic alliances for trapping and path planning. To address this problem, this paper first proposes a 'trap point occupancy strategy' to realize the generation of dynamic alliances among multiple robots during the trapping process. Secondly, based on this, an improved gray wolf algorithm is proposed in this paper to implement robot target guidance and adaptive obstacle avoidance functions, used for the path planning of the robot's arrival at the trapping point during the trapping process, thus completing the entire trapping task. Then, this paper conducts simulation experiments in a 3D underwater environment with static obstacles, and the results confirm that the proposed cooperative trapping algorithm has high efficiency and robustness. Finally, the innovations and all the work in the article are summarized, and prospects are put forward.
KW - Amphibious spherical robot
KW - encirclement point occupation algorithm
KW - improved gray wolf algorithm
KW - multi-robot collaborative encirclement
UR - http://www.scopus.com/inward/record.url?scp=85170827456&partnerID=8YFLogxK
U2 - 10.1109/ICMA57826.2023.10216176
DO - 10.1109/ICMA57826.2023.10216176
M3 - Conference contribution
AN - SCOPUS:85170827456
T3 - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
SP - 1835
EP - 1840
BT - 2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 20th IEEE International Conference on Mechatronics and Automation, ICMA 2023
Y2 - 6 August 2023 through 9 August 2023
ER -