Research on Target Encirclement Strategy of Amphibious Spherical Robots in 3D Underwater Environments

The cooperative trapping of multiple amphibious robots in a 3D underwater environment is a comprehensive research topic that mainly includes the generation of dynamic alliances for trapping and path planning. To address this problem, this paper first proposes a “trap point occupancy strategy” to realize the generation of dynamic alliances among multiple robots during the trapping process. Secondly, based on this, an improved gray wolf algorithm is proposed in this paper to implement robot target guidance and adaptive obstacle avoidance functions, used for the path planning of the robot’s arrival at the trapping point during the trapping process, thus completing the entire trapping task. Then, this paper conducts simulation experiments in a 3D underwater environment with static obstacles, and the results confirm that the proposed cooperative trapping algorithm has high efficiency and robustness. Finally, the innovations and all the work in the article are summarized, and prospects are put forward.