Quadrotor Location-based Target Hunting Strategy for Multiple Amphibious Spherical Robots

Abstract

In order to realize the underwater functions of amphibious spherical robots and complete the task in water, a multi-robot cooperative hunting strategy is proposed. With the global observation of the quadrotor, the robots and the target can be found, which meets the conditions for modeling a composite system. In the target hunting process, multiple robots converge uniformly when they are hunting target, and they form a triangle formation. The cost function evaluates the hunting efficiency and energy consumption of the hunting strategy. Finally, the optimal path of each amphibious spherical robot was calculated. The simulation results show the effectiveness of this target hunting method based on ROS/Gazebo simulation platform.