Research on Cooperative Encirclement Strategy of Multiple Underwater Robots based on Wolf Swarm Algorithm

摘要

Abstract The problem of multi underwater vehicle cooperative seizing is an important part of the research of multi-underwater-vehicle cooperative task self-organization, which is widely used in military, rescue and other fields. In this paper, the problem of multiple underwater vehicles (AUVs) encircling is a group of AUVs, which can encircle a target body through cooperative cooperation. The stability of the system can be improved by applying the wolf swarm algorithm to the multi underwater robot system. In this paper, we mainly study the problem of multiple underwater vehicles in two-dimensional space. Wolf swarm algorithm abstracts three kinds of swarm intelligence behaviors, calling wandering behavior, summoning behavior and preying behavior, puts forward a new swarm intelligence algorithm by simulating Wolf-swarm predation. The effectiveness of the algorithm is verified by numerical simulation.