A method, system and execution device for herding
By employing Apollonius circle theory and a phased speed control method, the problems of poor generalization ability and target escape in multi-unmanned surface vessel (USV) encirclement missions were solved, achieving efficient and adaptive encirclement results.
Patent Information
- Application Number
- CN202310391040.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2023-04-11
- Publication Date
- 2025-12-19
- Estimated Expiration
- 2043-04-11
AI Technical Summary
Existing technologies have problems such as poor generalization ability, high possibility of target escape, and insufficient speed adaptability in multi-unmanned surface vessel (USV) encirclement missions, making it difficult to achieve efficient encirclement, especially in complex sea conditions.
The total occupancy angle for encirclement is determined using the Apollonius circle theory. Based on the encirclement stage and speed relationship, the speed and direction of the encircler are controlled in stages, including the encirclement formation and situation maintenance stages. The speed strategy is optimized by minimizing the cost function.
It improves the success rate of encirclement and capture, and can adaptively complete the uniform encirclement and capture of moving targets, adapting to complex sea conditions and different speed relationships, and ensuring efficient capture.
Smart Images
Figure CN116300964B_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of unmanned ship, in particular to a cluster hunting method, system and execution device. BACKGROUND
[0002] Multi-unmanned ship hunting task has great application prospect in actual environment, and is widely involved in the fields of artificial intelligence, pattern recognition, automatic control, etc. After expansion, it can realize detection, capture and safety patrol of intruders in military field, and further improve the intelligent degree of various combat equipment of the army, and provide new ideas in safety protection.
[0003] The hunting of a mobile target refers to surrounding the mobile target by multiple pursuers to constrain the activity range of the mobile target so that the mobile target cannot move. Due to the high speed and flexible activity of the mobile target, a single pursuer cannot independently complete the surrounding of the target, and multiple pursuers need to cooperate with each other to simultaneously surround the target from different angles to efficiently complete the hunting task. At present, the methods for solving the hunting problem of multiple intelligent agents to a single target include reinforcement learning method, formation control method and geometric method. The reinforcement learning method has poor generalization ability in complex sea conditions, and the trained strategy is difficult to cope with high variable actual scenes. The formation control method has limitations on the ability of the target, and is not suitable for the case where the target is faster. The Apollonius circle geometric method proposed by Xu Fang et al. can be used for hunting of faster targets and has strong generalization ability, but it does not maintain the surrounding in the process of hunting, which leads to a high possibility of target escape, and the assumption that the intelligent agent always travels at the fastest speed does not conform to the real situation. SUMMARY
[0004] The purpose of the present application is to provide a cluster hunting method, system and execution device, which can enable intelligent agents to adaptively complete uniform hunting of a hunting target and improve the hunting success rate.
[0005] To achieve the above purpose, the present application provides the following solutions:
[0006] A cluster hunting method, comprising:
[0007] Obtaining observation information of a hunter and observation information of a mobile target; the observation information includes position information and speed information;
[0008] According to the observation information of the hunter and the observation information of the mobile target, determining a total occupation angle of hunting based on the Apollonius circle theory, and judging a hunting stage according to the total occupation angle of hunting; the hunting stage includes a surrounding formation stage and a surrounding situation maintaining stage;
[0009] According to the trapping stage, the speed information of the trapper and the speed information of the moving target, the optimal trapping speed is determined;
[0010] According to the optimal trapping speed, the trapper is controlled to reach the moving target for trapping.
[0011] Optionally, according to the observation information of the trapper and the observation information of the moving target, the total trapping occupied angle is determined based on the Apollonius circle theory, and specifically includes:
[0012] According to the position information of the trapper and the position information of the moving target, a relative coordinate system with the moving target as a pole is established;
[0013] According to the distance from each trapper to the moving target and the polar angle of each trapper in the relative coordinate system with the moving target as a pole, the coordinates of each trapper in the relative coordinate system are determined;
[0014] Based on the Apollonius circle theory, the formula is used to determine the total trapping occupied angle;
[0015] Wherein, θ G is the total trapping occupied angle, ε i,i+1 is the overlapping angle of the i-th trapper and the i+1-th trapper, and n is the total number of trappers.
[0016] Optionally, the formula is used to determine the overlapping angle;
[0017] Wherein, ε n,1 is the overlapping angle of the n-th trapper and the 1-th trapper, α i is the polar angle of the i-th trapper in the relative coordinate system with the moving target as a pole, θ i is the occupied angle of the i-th trapper, V i is the speed information of the i-th trapper, i=1,2,3...n, and V e is the speed information of the moving target.
[0018] Optionally, the total trapping occupied angle is used to determine the trapping stage; specifically including:
[0019] When the total trapping occupied angle is less than 2π, it is the formation stage of surrounding, and the trapper reaches 2π at the fastest speed;
[0020] When the total trapping occupied angle is equal to 2π, it is the maintenance stage of surrounding situation, and the trapper maintains 2π while reducing the distance from the moving target.
[0021] Optionally, determining the optimal encirclement speed based on the encirclement phase, the speed information of the encirclers, and the speed information of the moving target specifically includes:
[0022] The velocity direction of the pursuers is decomposed into the pursuit direction pointing towards the moving target and the encirclement direction perpendicular to the pursuit direction;
[0023] If the encirclement is in the formation stage and the speed of the pursuers is greater than the speed of the moving target, no action is required.
[0024] If the encirclement is maintained and the speed of the pursuer is greater than the speed of the moving target, then the moving target is pursued directly.
[0025] If, during the encirclement formation phase, the speed information of the encirclers is less than or equal to the speed information of the moving target, then the overlap angle ε between the i-th encircler and the (i+1)-th encircler is determined. i,i+1 The overlap angle ε with the i-th and (i-1)-th pursuers i-1,i The relationship; if ε i,i+1 -ε i-1,i If the velocity of the i-th pursuer is greater than 0, then the velocity direction of the i-th pursuer is the counterclockwise encirclement direction; otherwise, the velocity direction of the i-th pursuer is the clockwise encirclement direction.
[0026] If, during the encirclement phase, the speed information of the pursuer is less than or equal to the speed information of the moving target, then while reducing the distance to the moving target, the encirclement is maintained. The cost function is determined, and the cost function is minimized to determine the optimal encirclement speed.
[0027] A cluster capture system, comprising:
[0028] The observation information acquisition module is used to acquire observation information of the pursuers and the moving target; the observation information includes: position information and velocity information;
[0029] The total occupancy angle determination module is used to determine the total occupancy angle based on the observation information of the hunter and the observation information of the moving target, and on the basis of the Apollonius circle theory; and to determine the occupancy stage based on the total occupancy angle; the occupancy stage includes: the encirclement formation stage and the encirclement status maintenance stage;
[0030] The optimal speed determination module for encirclement is used to determine the optimal speed for encirclement based on the encirclement stage, the speed information of the encirclers, and the speed information of the moving target.
[0031] The encirclement module is used to control the encircler to reach the moving target and carry out the encirclement based on the optimal encirclement speed.
[0032] Optionally, the module for determining the total occupancy angle for the encirclement specifically includes:
[0033] A relative coordinate system determination module is configured to establish a relative coordinate system with the moving target as a pole point according to the position information of the encircler and the position information of the moving target;
[0034] An encircler coordinate determination module is configured to determine the coordinates of each encircler in the relative coordinate system according to the distance from each encircler to the moving target and the polar angle of each encircler in the relative coordinate system with the moving target as a pole point;
[0035] An encircling total occupation angle determination module is configured to determine the encircling total occupation angle based on the Apollonius circle theory and using the formula .
[0036] Wherein, θ G is the encircling total occupation angle, ε i,i+1 is the overlapping angle between the i-th encircler and the i+1-th encircler, and n is the total number of encirclers.
[0037] A cluster encircling execution device, comprising:
[0038] A processor;
[0039] A memory configured to store a computer readable program;
[0040] When the computer readable program is executed by the processor, the processor implements the cluster encircling method.
[0041] According to the specific embodiments of the present application, the following technical effects are provided:
[0042] The cluster encircling method, system and execution device provided by the present application determine the encircling total occupation angle based on the Apollonius circle theory according to the observation information of the encircler and the observation information of the moving target, and determine the encircling stage according to the encircling total occupation angle. Different strategies are given according to different speed relationships in different encircling stages, which ensures the capture of the moving target with strong escape ability in complex sea conditions and ensures the high success rate of encircling. BRIEF DESCRIPTION OF DRAWINGS
[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.
[0044] Figure 1 is a flowchart of a cluster encircling method provided by the present application;
[0045] Figure 2 is a schematic diagram of the Apollonius circle when the moving target speed is faster in the present application;
[0046] Figure 3 is a schematic diagram of the overlap angle less than or equal to 0 when the moving target speed is faster in the present application;
[0047] Figure 4 is a schematic diagram of the overlap angle greater than 0 when the moving target speed is faster in the present application;
[0048] Figure 5 is a schematic diagram of the overlap angle less than 0 when the speed is consistent in the present application;
[0049] Figure 6 is a schematic diagram of the overlap angle greater than 0 when the speed is consistent in the present application;
[0050] Figure 7 is a schematic diagram of the overlap angle equal to 0 when the speed is consistent in the present application;
[0051] Figure 8 is a schematic diagram of the Apollonius circle when the moving target speed is faster in the present application;
[0052] Figure 9 is a schematic diagram of the hunting process of 3 intelligent agents (hunting agents) hunting 1 moving target;
[0053] Figure 10 is a total occupation angle change curve diagram of 3 intelligent agents hunting 1 moving target;
[0054] Figure 11 is a schematic diagram of a cluster hunting system structure provided by the present application. DETAILED DESCRIPTION
[0055] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.
[0056] The purpose of the present application is to provide a cluster hunting method, system and execution device, which can enable intelligent agents to adaptively complete uniform hunting of hunting targets and improve hunting success rate.
[0057] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.
[0058] AsFigure 1 The cluster hunting method provided by the application comprises the following steps:
[0059] S101, acquiring observation information of the hunters and observation information of the moving target; the observation information comprises position information and speed information. A group of hunters are distributed around the target according to a clockwise order, and the hunter with a larger polar angle is numbered relatively larger. The number of each hunter is dynamically changed. Each hunter has its number, and n hunters have numbers from 1 to n. In the operation process, there may be numbers less than 1 or greater than n, the number less than 1 needs to be added by n to obtain the real number, and the number greater than n needs to be taken modulo n to obtain the real number.
[0060] The speed of the hunter and the target has three corresponding relationships: the speed of the hunter is greater than that of the target, the speed of the hunter is equal to that of the target, and the speed of the hunter is less than that of the target, wherein the last case has the strongest possibility of target escape.
[0061] S102, determining the total occupation angle of hunting based on the Apollonius circle theory according to the observation information of the hunters and the observation information of the moving target, and judging the hunting stage according to the total occupation angle of hunting; the hunting stage comprises a surrounding formation stage and a surrounding situation maintaining stage.
[0062] S102 specifically comprises the following steps:
[0063] According to the position information of the hunters and the position information of the moving target, a relative coordinate system with the moving target as the pole point is established.
[0064] According to the distance from each hunter to the moving target and the polar angle of each hunter in the relative coordinate system with the moving target as the pole point, the coordinates (r i ,α i ) of each hunter in the relative coordinate system are determined. The polar angle is defined in [0, 2π), a group of hunters are distributed around the target according to a clockwise order, and the hunter with a larger polar angle is numbered relatively larger. The number of each hunter is dynamically changed.
[0065] Based on the Apollonius circle theory, the total occupation angle of hunting is determined by the formula .
[0066] Wherein, θ G is the total occupation angle of hunting, ε i,i+1 is the overlapping angle of the i-th hunter and the i+1-th hunter, and n is the total number of hunters.
[0067] The overlapping angle is determined by the formula .
[0068] Wherein, εn,1 is the overlap angle of the nth pursuer and the first pursuer, a i is the polar angle of the ith pursuer in the relative coordinate system with the moving target as the pole, q i is the occupation angle of the ith pursuer, V i is the speed information of the ith pursuer, i = 1, 2, 3... n, V e is the speed information of the moving target.
[0069] Apollonius circle theory is that the locus of points in a plane whose distances to two fixed points are in a constant ratio k (k ≠ 1) is a circle, which is called Apollonius circle, as shown in Figure 2 When the moving target is faster, the pursuer forms an Apollonius circle relative to the moving target, with the center at C, because the ratio of the distances of the pursuer and the moving target to the circle is The angle between the two tangent lines of the moving target to the circle is the occupation angle q i of the ith pursuer, and the occupation angle and the speeds of the two are related: The geometric meaning of the occupation angle is that the pursuer can capture the moving target in the future time within this angle range or this angle range is not the optimal escape direction of the moving target; when the speeds are consistent, the Apollonius circle no longer exists, and the present invention designs new overlap angles and occupation angles to extend the Apollonius circle theory to the case of consistent speeds; when the speed of the pursuer is greater than that of the moving target, the position of the Apollonius circle changes, as shown in Figure 8 The occupation angle of a single pursuer can reach 2p. In the present invention, the calculation of the angle is based on the moving target as the pole, and the coordinates of each pursuer are represented by (r i , a i ), i represents the number of each pursuer, r i represents the distance between the ith pursuer and the moving target, a i represents the polar angle of the ith pursuer in the coordinate system with the moving target as the pole, as shown in Figure 1 , and the polar angle is defined in [0, 2p). The angle between the tangent lines of two adjacent pursuers is the overlap angle, and the calculation formula is as follows: where e i,i+1 is the overlap angle of the ith pursuer and the ith + 1 pursuer, and from the geometric meaning, if e i,i+1 is greater than 0, there is a gap between the occupation angles of the two adjacent pursuers, so there is an escape direction. At this time, e i,i+1 is called the escape angle, as shown in Figure 4 . If e i,i+1If less than or equal to 0, there is an overlap between the two adjacent hunters' occupation angles, and at this time, ε i,i+1 is called the overlap occupation angle, as Figure 3 The present application extends the Apollonius circle to the case of uniform speed, and the occupation angle is π when the speed is uniform, and the calculation of the corresponding overlap angle is modified as In the geometric representation, ε i,i+1 is less than 0 as shown in FIG. 5, ε i,i+1 is greater than 0 as shown in FIG. 6, and Figure 6 ε i,i+1 is equal to 0 as shown in FIG. 7. Figure 7 .
[0070] According to the positional relationship, a relative coordinate system based on the moving target is established, and the coordinates of each hunter are calculated in real time. The geometric meaning of the occupation angle is that the hunter can capture the moving target within this angle range in the future time, or this angle range is not the optimal escape direction of the moving target.
[0071] According to the total occupation angle of the hunters, the hunting stage is determined, which specifically includes:
[0072] When the total occupation angle is less than 2π, it is the formation stage of the enclosure, and the hunters reach 2π at the fastest speed.
[0073] When the total occupation angle is equal to 2π, it is the maintenance stage of the enclosure situation, and the hunters maintain 2π while reducing the distance to the moving target.
[0074] If the total occupation angle is equal to 2π, it means that the target has entered the capture domain, and no matter which direction it escapes, it is within the reachable range of the hunters. If the total occupation angle is between , the current hunting agent is in the maintenance stage of the enclosure situation, otherwise it is in the formation stage of the enclosure. In the formation stage of the enclosure, the hunters will form the enclosure at the fastest speed, while in the maintenance stage of the enclosure situation, the hunters will maintain the total occupation angle near 2π while chasing the target, thereby maintaining the enclosure situation. Therefore, the above two stages may switch back and forth until the target is finally captured.
[0075] In the embodiment, the number of hunters is 3, the maximum speed of the hunters is 2, and the maximum speed of the moving target is 2.0703, so the speed ratio is 0.966, and thus the occupation angle of each hunter when driving at the maximum speed is greater than 120 degrees, thereby ensuring that the total occupation angle reaches 2π. The calculation of the total occupation angle is as follows: The total occupation angle is related to the overlap angle greater than 0, and in this embodiment, the total occupation angle is in the maintenance stage of the enclosure situation, otherwise it is in the formation stage of the enclosure.
[0076] S103, determining the optimal speed of encirclement according to the speed information of the encirclement and the speed information of the moving target.
[0077] S103 specifically includes:
[0078] The speed V i of the encirclement is decomposed into a pursuit direction v is pointing to the moving target and a surrounding direction v ih perpendicular to the pursuit direction.
[0079] If in the encirclement formation stage and the speed information of the encirclement is greater than the speed information of the moving target, no measures are needed to be taken.
[0080] If in the encirclement situation maintaining stage and the speed information of the encirclement is greater than the speed information of the moving target, directly pursue the moving target.
[0081] If in the encirclement formation stage and the speed information of the encirclement is less than or equal to the speed information of the moving target, determine the overlapping angle ε i,i+1 of the i-th encirclement and the i+1-th encirclement and the overlapping angle ε i-1,i of the i-th encirclement and the i-1-th encirclement; if ε i,i+1 -ε i-1,i > 0, the speed direction of the i-th encirclement is the counterclockwise surrounding direction; otherwise, the speed direction of the i-th encirclement is the clockwise surrounding direction.
[0082] If in the encirclement situation maintaining stage and the speed information of the encirclement is less than or equal to the speed information of the moving target, reduce the distance to the moving target while maintaining the encirclement, determine the cost function, and minimize the cost function to determine the optimal speed of encirclement.
[0083] J = λ1J1+ λ2J2, λ1+ λ2 = 1, where where J1 represents the sum of squares of distances between all encirclements and the moving target at the next moment, and J2 represents the square of the rate of change of the group occupation angle at the current moment, minimizing the two terms to maximize the reduction of the pursuit distance at the next moment and keep the total occupation angle fluctuating around 2π. Because so where β i is the speed direction of the encirclement in the relative coordinate system. Therefore, the cost function can be simplified to the expression of β i .
[0084]
[0085] where, Take the partial derivative of J to get:
[0086]
[0087] Set it to 0 can get a set of nonlinear multivariate equations, using matlab solution can get each beta i The solution in this embodiment Δt=1, r i The distance between the i-th pursuer and the moving target can be calculated in real time, when a pursuer approaches the moving target d c range, the moving target determines to be captured, in this embodiment d c is set to 1.5. The initial positions of the three pursuers in this embodiment are (-10, 0), (-10, -5) and (10, -10) respectively, and the initial position of the moving target is (2, 0). First, the total occupation angle is calculated to be 278 degrees, which is less than The speed of the pursuer is also less than the speed of the moving target, so each pursuer adopts a pure surrounding strategy, and the surrounding direction is determined according to the overlap angle, so that the total occupation angle quickly reaches 2π. As shown in Figure 10 The total occupation angle increases from less than to 2π. Further, the pursuer enters the surrounding situation maintenance stage, because the speed of the pursuer is less than the speed of the moving target, so each pursuer adopts a pursuit while maintaining the surrounding strategy, thereby improving the capture success rate. In this embodiment, the optimal direction of each pursuer is calculated by using Matlab, so as to reduce the pursuit distance while keeping the total occupation angle at As shown in Figure 10 When the total occupation angle is less than , the pursuer returns to the surrounding formation stage, and the moving target is captured in the process of switching between the two stages, as shown in Figure 9 The second pursuer and the moving target are 1.0519 apart at the 26th frame, which meets the capture condition.
[0088] S104, according to the optimal speed of the pursuit, the pursuer is controlled to reach the moving target for pursuit.
[0089] Convert the beta i obtained in the previous step into the optimal speed of the pursuer in the next time in the Cartesian coordinate, and control the pursuit agent to move to the pursuit point at the optimal speed. The pursuit process of this embodiment is shown in Figure 9 .
[0090] Figure 11 A cluster pursuit system structure schematic diagram provided by the present application, as shown in Figure 11 The present application also provides a cluster pursuit system, comprising:
[0091] An observation information acquisition module 201 is used to acquire the observation information of the pursuer and the observation information of the moving target; the observation information includes position information and speed information.
[0092] The total occupation angle determination module 202 is configured to determine a total occupation angle of the encirclement based on the observation information of the encircler and the observation information of the moving target and based on the Apollonius circle theory, and determine an encirclement stage according to the total occupation angle of the encirclement; the encirclement stage includes a surrounding formation stage and a surrounding situation maintaining stage.
[0093] The optimal speed determination module 203 is configured to determine an optimal speed of the encirclement according to the encirclement stage, the speed information of the encircler and the speed information of the moving target.
[0094] The encirclement module 204 is configured to control the encircler to reach the moving target to encircle the moving target according to the optimal speed of the encirclement.
[0095] The total occupation angle determination module 202 specifically includes:
[0096] The relative coordinate system determination module is configured to establish a relative coordinate system with the moving target as a pole point according to the position information of the encircler and the position information of the moving target.
[0097] The encircler coordinate determination module is configured to determine the coordinates of each encircler in the relative coordinate system according to the distance of each encircler to the moving target and the polar angle of each encircler in the relative coordinate system with the moving target as a pole point.
[0098] The total occupation angle determination module is configured to determine the total occupation angle of the encirclement based on the Apollonius circle theory and by using the formula .
[0099] Wherein, θ G is the total occupation angle of the encirclement, ε i,i+1 is the overlapping angle of the i-th encircler and the i+1-th encircler, and n is the total number of encirclers.
[0100] In order to perform the method corresponding to the above-mentioned embodiment one and realize the corresponding functions and technical effects, the application further provides a cluster encirclement execution device, which comprises:
[0101] A processor.
[0102] A memory for storing a computer readable program.
[0103] When the computer readable program is executed by the processor, the processor realizes the cluster encirclement method.
[0104] The present application divides the surrounding and capturing into two stages, and the optimal speed of pursuing and surrounding is solved by minimizing the cost function in the second stage, so as to ensure the high success rate of surrounding and capturing; in addition, the present application designs new overlapping angle and occupation angle, and expands the Apollonius circle theory to the case of consistent speed, and gives different strategies for different speed relations, so that the method in the present application can be applied to successfully capture the moving target even in the complex maritime environment and in the case of considering the kinematic model.
[0105] The embodiments in the specification are described in a progressive manner, and each embodiment focuses on the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the system disclosed by the embodiments, since it corresponds to the method disclosed by the embodiments, the description is relatively simple, and the related parts can be referred to the method part.
[0106] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above embodiment description is only used to help understand the method of the present application and its core idea; meanwhile, for the general skilled in the art, the specific implementation manner and application range can be changed according to the idea of the present application. In conclusion, the content of the specification should not be understood as the limitation of the present application.
Claims
1. A method for clustered capture, characterized in that, include: Obtain observational information on the pursuers and moving targets; The observation information includes: position information and velocity information; Based on the observation information of the pursuers and the moving target, and using the Apollonius circle theory, the total occupancy angle for the encirclement is determined; and the encirclement stage is determined based on the total occupancy angle; the encirclement stage includes: the encirclement formation stage and the encirclement status maintenance stage; The optimal speed for encirclement is determined based on the encirclement phase, the speed information of the encirclers, and the speed information of the moving target. The optimal speed for encirclement and capture is used to control the pursuers to reach the moving target and carry out the encirclement and capture. The process of determining the optimal encirclement speed based on the encirclement phase, the speed information of the encirclers, and the speed information of the moving target specifically includes: The velocity direction of the pursuers is decomposed into the pursuit direction pointing towards the moving target and the encirclement direction perpendicular to the pursuit direction; If the encirclement is in the formation stage and the speed of the pursuers is greater than the speed of the moving target, no action is required. If the encirclement is maintained and the speed of the pursuer is greater than the speed of the moving target, then the moving target is pursued directly. If, during the encirclement formation phase, the speed information of the encirclers is less than or equal to the speed information of the moving target, then the overlap angle ε between the i-th encircler and the (i+1)-th encircler is determined. i,i+1 The overlap angle ε with the i-th and (i-1)-th pursuers i-1,i The relationship; if ε i,i+1 -ε i-1,i If the velocity of the i-th pursuer is greater than 0, then the velocity direction of the i-th pursuer is the counterclockwise encirclement direction; otherwise, the velocity direction of the i-th pursuer is the clockwise encirclement direction. If, during the encirclement phase, the speed of the pursuer is less than or equal to the speed of the moving target, then while reducing the distance to the moving target, the encirclement is maintained. The cost function is determined, and the cost function is minimized to determine the optimal encirclement speed. The cost function J includes: J=λ1J1+λ2J2,λ1+λ2=1; Where J1 represents the sum of the squares of the distances of all pursuers and moving targets in the next moment, and J2 represents the square of the rate of change of the group's occupancy angle at the current moment. Minimizing J1 and J2 can maximize the reduction of the pursuit distance in the next moment, and the total occupancy angle remains fluctuating around 2π.
2. The cluster encirclement method according to claim 1, characterized in that, Based on the observation information of the pursuers and the moving target, and using the Apollonius circle theory, the total encirclement angle is determined, specifically including: Based on the location information of the pursuers and the location information of the moving target, establish a relative coordinate system with the moving target as the pole; The coordinates of each pursuer in the relative coordinate system are determined based on the distance of each pursuer from the moving target and the polar angle of each pursuer in the relative coordinate system with the moving target as the pole. Based on the Apollonius circle theory, using the formula Determine the total occupancy angle for the encirclement; Where, θ G For the total angle occupied by the encirclement, ε i,i+1 Let be the overlap angle between the i-th and i+1-th hunters, and n be the total number of the hunters.
3. The cluster encirclement method according to claim 2, characterized in that, Using formula Determine the overlap angle; Where, ε n,1 Let α be the overlap angle between the nth pursuer and the 1st pursuer. i Let θ be the polar angle of the i-th pursuer in a relative coordinate system with the moving target as the pole. i Let be the angle occupied by the i-th hunter. V i For the speed information of the i-th pursuer, i = 1, 2, 3...n, V e This provides the speed information for the moving target.
4. The cluster encirclement method according to claim 2, characterized in that, The encirclement stage is determined based on the total angle occupied during the encirclement; specifically including: When the total angle occupied by the encirclement is less than 2π, it is the encirclement formation stage, and the encirclers reach 2π at the fastest speed. When the total occupancy angle of the encirclement is equal to 2π, it is the encirclement situation maintenance phase. The encirclers maintain 2π while reducing and moving the distance to the target.
5. A cluster trapping system for implementing the cluster trapping method according to any one of claims 1-4, characterized in that, include: The observation information acquisition module is used to acquire observation information of the pursuers and the moving targets; The observation information includes: position information and velocity information; The total occupancy angle determination module is used to determine the total occupancy angle based on the observation information of the hunter and the observation information of the moving target, using the Apollonius circle theory; and to determine the occupancy stage based on the total occupancy angle; the occupancy stage includes: the encirclement formation stage and the encirclement situation maintenance stage; The optimal speed determination module for encirclement is used to determine the optimal speed for encirclement based on the encirclement stage, the speed information of the encirclers, and the speed information of the moving target. The encirclement module is used to control the encircler to reach the moving target and carry out the encirclement based on the optimal encirclement speed.
6. A cluster capture system according to claim 5, characterized in that, The module for determining the total occupancy angle for encirclement and capture specifically includes: The relative coordinate system determination module is used to establish a relative coordinate system with the moving target as the pole, based on the location information of the pursuers and the location information of the moving target. The target coordinate determination module is used to determine the coordinates of each target in the relative coordinate system based on the distance of each target to the moving target and the polar angle of each target in the relative coordinate system with the moving target as the pole. The module for determining the total occupancy angle for encirclement is used based on the Apollonius circle theory and employs formulas. Determine the total occupancy angle for the encirclement; Where, θ G For the total angle occupied by the encirclement, ε i,i+1 Let be the overlap angle between the i-th and i+1-th hunters, and n be the total number of the hunters.
7. A cluster capture execution device, characterized in that, include: processor; Memory, used to store computer-readable programs; When the computer-readable program is executed by the processor, the processor implements a cluster capture method as described in any one of claims 1-4.