Collaborative Hunting Strategy for Multi-Amphibious Spherical Robots in Underwater Environment with Obstacles

Collaborative target hunting by multiple underwater robots in obstacle environment is a challenging task. This study addresses this problem by proposing a cooperative hunting strategy based on an improved artificial potential field to achieve an efficient hunting task. The algorithm combines the perception and decision-making capabilities of the robots to guide the robots to form an effective roundup formation near the target by generating a suitable potential field in the environment. The robot's path is planned at a long distance, and the hunting potential points are assigned after approaching the target point, and finally the hunting of the target point is accomplished. The simulation results show that the method has good adaptability and feasibility in obstacle environments, and can effectively realize the cooperative target hunting task of multiple underwater robots.