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Research on Synergy Pursuit Strategy of Multiple Underwater Robots
Jia QY(贾庆勇)1,2; Xu HL(徐红丽)1; Li GN(李冠男)1,2; Gu HT(谷海涛)1; Feng XS(封锡盛)1
Department海洋信息技术装备中心
Source PublicationJournal of Intelligent and Robotic Systems: Theory and Applications
ISSN0921-0296
2019
Pages1-22
Indexed ByEI
EI Accession number20191806849014
Contribution Rank1
KeywordSynergy control Pursuit strategy Semicircular encirclement Finite state machine Multiple underwater robots
AbstractThis paper presents a synergy pursuit strategy that multiple underwater robots pursue a single moving target based on finite state machine. The processes of the pursuit are defined as seven different states, and to implement each state, the corresponding strategies are designed. As the strategy for each state is implemented by a corresponding formation control, a synergy control law is also designed for multiple underwater robots. In the design of the pursuit strategy, the definition of encirclement is put forward for the underwater robots. Furthermore, the proof that a point is encircled by other points on the plane is given. To solve the problem of the concealment in the tracking and the pursuit, a semicircular pursuit strategy and a circular pursuit strategy are also proposed. Finally, based on this pursuit strategy, the simulation of whole process is carried out with the MOOS(Mission Oriented Operating Suite) platform, and the effectiveness of the semicircular and circular pursuit strategy are verified by lake experiment with practical robots. The results of simulation and lake experiment prove that this pursuit strategy can realize synergy tracking and pursuit for a single moving target under the given conditions.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/24672
Collection海洋信息技术装备中心
Corresponding AuthorJia QY(贾庆勇)
Affiliation1.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang 110016, China
2.University of Chinese Academy of Sciences, Beijing 100049, China
Recommended Citation
GB/T 7714
Jia QY,Xu HL,Li GN,et al. Research on Synergy Pursuit Strategy of Multiple Underwater Robots[J]. Journal of Intelligent and Robotic Systems: Theory and Applications,2019:1-22.
APA Jia QY,Xu HL,Li GN,Gu HT,&Feng XS.(2019).Research on Synergy Pursuit Strategy of Multiple Underwater Robots.Journal of Intelligent and Robotic Systems: Theory and Applications,1-22.
MLA Jia QY,et al."Research on Synergy Pursuit Strategy of Multiple Underwater Robots".Journal of Intelligent and Robotic Systems: Theory and Applications (2019):1-22.
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