多仿生机器人协同编队捕获策略

Collaborative Formation Capture Strategy for Multiple Biomimetic Robots

摘要:

机器人的协同编队问题是一个综合性的研究课题，主要包括编队策略及路径规划 2 个阶段。针对单一机器人在未知水下环境中执行任务时能源受限等问题，提出一种基于改进蚁群算法的安全域协商捕捉策略，以解决多仿生机器人系统水下环境中对目标的协同编队捕获问题。机器人随机搜索过程中发现目标后， 利用安全域协商策略，实现目标机器人周围捕获点的分配；采用改进的蚁群算法实现编队过程的路径规划和自适应避障。在不同大小的障碍物环境中进行仿真实验，并与经典的路径规划算法进行对比，实验结果表明： 所提出的策略能够使机器人在复杂的水下障碍物环境中完成高效的协作编队捕捉任务，具备有效性。

关键词:水下机器人;协同编队策略;安全域协商策略;路径规划

Abstract:

The collaborative formation problem of robots is a comprehensive research topic，which mainly includes two stages：formation strategy and path planning. To solve the problem of collaborative formation capture of targets in multiple biomimetic robot systems in underwater environment，a security domain negotiation capture strategy based on an improved ant colony algorithm is proposed to address the energy constraints of a single robot executing tasks in an unknown underwater environment. After discovering the target during the robot's random search process，a secure domain negotiation strategy is used to allocate capture points around the target robot. An improved ant colony algorithm is used to realize path planning and adaptive obstacle avoidance during the formation process. Simulation experiments are conducted in obstacle environments of different sizes，and compared with classic path planning algorithms. The experimental results show that the proposed strategy can enable robots to complete efficient collaborative formation capture tasks in complex underwater obstacle environments，and it is effective.

Key words:underwater robots;collaborative formation strategy;security domain negotiation policy;path planning