基于Bug2和角度优先的多AUV围捕策略

Multiple AUV Capture Strategy Based on BUG2 and Angle Priority

水下围捕活动是多自主水下机器人研究的重点和难点。由于水下光照不足和水流波动影响,导致周遭环境变化不定,环境地图识别困难。为此,提出基于Bug2和角度优先的多AUV围捕策略。利用Bug2算法实现路径规划,通过自主水下机器人的传感器获取周遭环境信息,实现最短直线游动或紧贴障碍的沿边游动;采用角度优先的围捕策略解决猎物逃离问题,其以自身速度为参考,设置一定角度来保证及时封堵猎物的逃离路线。经仿真验证:此算法完成了有/无障碍下的围捕,并分析了其围捕效率的影响因素。

Underwater roundup has always been the key and difficult point in the research of underwater multi-autonomous robot,and due to the lack of light under the sea and the influence of water flow fluctuation,it is easy to cause the difficulty of environmental map identification and the uncertainty of the surrounding environment.In view of these difficulties,this paper will adopt the simplest and most efficient Bug2 algorithm to realize path planning.It can use AUV’s sensors,such as sonar,to obtain environmental information and realize the shortest straight line swim straight to the goal or the edge swim close to the obstacle.As for the problem of rounding up,it mainly solves the problem of target escaping in the round up,and the principle of angle priority can effectively prevent this kind of problem.It takes its own speed as a reference and sets a certain angle to ensure that the escape route of the target can be blocked in time,so as to achieve successful roundup.Finally,the Java platform simulation is used to verify the feasibility of the algorithm,and the experimental results are given.