Research On The Method Of Hunting Task Assignment Based On Energy Balance

Due to its unique military application and social application value,multiple underwater robotics technology has received widespread attention in academic circles in recent years.The rounding problem involving robot collaboration,communication,planning,and many other key technologies for multi-robot systems is an ideal problem for researching multi-robot systems.Task assignment is the most important part of planning.The distribution of tasks often determines the quality of the task.Traditional rounding algorithms and task assignment algorithms have some problems: traditional rounding algorithms often design the target robot escape strategy to limit the intelligence of the rounded robot;task allocation algorithm does not take into account the characteristics of the underwater robot can not add energy and its performance is continuously depleted.Therefore,this paper mainly studies two aspects in the above situation.First,the target robot motion trajectory prediction technology,and second,the energy balance task assignment method based on the circling arrest task.Firstly,the advantages and disadvantages of various predictive models are analyzed,and the target robot motion trajectory prediction method based on Markov prediction model is designed according to the specificity of the underwater environment.Through the analysis of the motion state of the target robot and the capture robot at the current moment,the target robot is predicted.The possible movement state at a moment,obtaining the possible movement direction of the target robot and then encircling,does not limit the intelligence of the target robot itself.Secondly,the multi-layer wrap model is designed for the limitation of the single-layer wrap model,and the wraparound method based on prediction is designed based on the wrap model and the motion trajectory prediction method.Based on the circumcision task,the energy balance circling task assignment method was proposed for the specificity of the underwater environment and the characteristics of the robot carrying different energy,making the underwater robot can fully use its own characteristics to complete the task better.At the same time,taking into account the phenomenon of uneven consumption of energy in the system during the encircling period,an energy equalization method is proposed to balance the energy consumption of various robots in the encircling system and realize the system operation process.Dynamic task assignment.Finally,it was experimentally verified that the motion trajectory prediction method can still have a good rounding performance under the condition that the target robot escape strategy is unknown.The balanced energy encircling task allocation strategy can balance the system energy consumption and enhance the system lifetime under the premise of guaranteeing the encircling.The energetic balanced encircling method combined with the trajectory prediction method and the circling task assignment method can effectively reduce the average siege time,prolong the life of the circling system and increase the success rate of the circling trap.