多机器人协同围捕方法综述  

Multi-robot Cooperative Hunting:A Survey

作　　者：周萌 李建宇 王昶[2] 王晶[1] 王力[1] ZHOU Meng;LI Jian-Yu;WANG Chang;WANG Jing;WANG Li(College of Electrical and Control Engineering,North China University of Technology,Beijing 100144;Beijing Aerospace Automatic Control Institute,Beijing 100854)

机构地区：[1]北方工业大学电气与控制工程学院,北京100144 [2]北京航天自动控制研究所,北京100854

出　　处：《自动化学报》2024年第12期2325-2358,共34页Acta Automatica Sinica

基　　金：国家重点研发计划课题(2023YFB4704404);北京市教育委员会科学研究计划项目(KM202410009014);北京市属高等学校优秀青年人才培育计划项目(BPHR202203032);北方工业大学毓秀创新项目(2024NCUTYXCX107)资助。

摘　　要：多机协同围捕作为多机器人协同领域的一项重要分支,着重研究多个机器人通过相互协作对动态可疑目标实现有效的追踪与围捕,在军事侦查、紧急救援、协同探测等领域具有重要的研究意义与实际应用价值.首先通过国内外科学引文数据库对多机协同围捕领域相关的文献进行全面检索,深入剖析目前该领域前沿技术的发展现状与研究热点.接下来从理论与技术层面分别针对多机协同围捕领域中的目标协同搜索、多机任务分配、协同围捕控制等方面进行全面总结,重点阐述各研究内容常用方法与技术的工作原理、优缺点及适用范围等.最后对该领域的发展现状进行总结,并分析探讨目前尚未解决的难点,对未来的发展方向提出展望.As a significant branch of multi-robot coordination,multi-robot cooperative hunting mainly focuses on tracking and capturing dynamic suspicious targets effectively through cooperation.It has important significance and has been applied in various fields,such as military reconnaissance,emergency rescue,and collaborative detection.This paper conducts a comprehensive search of relevant literature in the field of multi-robot cooperative hunting through domestic and foreign scientific citation databases.It then thoroughly analyzes the current development status and research hotspots of frontier technologies in this field.Following this,the paper offers a thorough summary of research in the field of multi-robot cooperative hunting,covering theoretical and technical aspects,which concentrates on target cooperative search,multi-robot task allocation,and cooperative hunting control,etc..The working principles,advantages,disadvantages,and application ranges of commonly used methods and technologies in each research aspect are introduced in detail.Finally,this paper summarizes the current state of development and unresolved challenges in this field,and suggests potential directions for future development.

关 键 词：多机协同围捕 协同目标搜索 任务分配 围捕控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置] TP273[自动化与计算机技术—控制科学与工程]