Abstract:The collaborative formation problem of robots is a comprehensive research topic, which mainly includes two stages: formation strategy and path planning. This paper proposes a security domain negotiation capture strategy based on an improved ant colony algorithm to address the energy constraints of a single robot executing tasks in an unknown underwater environment, in order to solve the problem of collaborative formation capture of targets in multiple biomimetic robot systems in underwater environments. 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; Using an improved ant colony algorithm to achieve path planning and adaptive obstacle avoidance during the formation process. Simulation experiments were conducted in obstacle environments of different sizes, and compared with classic formation strategies and path planning algorithms. The experimental results showed that the proposed strategy can enable robots to complete efficient collaborative formation capture tasks in complex underwater obstacle environments, with effectiveness.
