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arXiv · 2312.01326

OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments

Xinyi Wang·Yulong Ding·Yizhou Chen·Ruihua Han·Lele Xi·Ben M. Chen
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Abstract

This article investigates the practical scenarios of chasing an adversarial evader in an unbounded environment with cluttered obstacles. We propose a Voronoi-based decentralized algorithm for multiple pursuers to encircle and capture the evader by reacting to collisions. An efficient approach is presented for constructing an obstacle-aware evader-centered bounded Voronoi cell (OA-ECBVC), which strictly ensures collision avoidance in various obstacle scenarios when pursuing the evader. The evader can be efficiently enclosed in a convex hull given random initial configurations. Furthermore, to cooperatively capture the evader, each pursuer continually compresses the boundary of its OA-ECBVC to quickly reduce the movement space of the evader while maintaining encirclement. Our OA-ECBVC algorithm is validated in various simulated environments with different dynamic systems of robots. Real-time performance of resisting uncertainties shows the superior reliability of our method for deployment on multiple robot platforms.

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Xinyi Wang, Yulong Ding, Yizhou Chen, Ruihua Han, Lele Xi, Ben M. Chen. 2023-12-03. OA-ECBVC: A Cooperative Collision-free Encirclement and Capture Approach in Cluttered Environments. https://arxiv.org/abs/2312.01326

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