Robot collaborative hunting task self-decision-making method based on recruitment information transmission mechanism

Abstract

The embodiment of the invention provides a multi-robot cooperative hunting task self-decision method based on a recruitment information transmission mechanism, and aims to solve the problem of communication limitation, the recruitment information transmission mechanism is provided, a recruitment demand sent by a recruiter is firstly transmitted to hunting robots in the communication range of the recruiter, and then the recruitment demand is transmitted to the hunting robots in the communication range of the recruiter. If the surrounding robot in the communication range cannot respond, the response is transmitted to other surrounding robots in the communication range of the surrounding robot in sequence until a communication boundary is reached; meanwhile, due to the fact that the capacity carried by the robots participating in hunting can only meet part of recruitment requirements, capacity coincidence possibly exists among the hunting robots, and the recruiters need to obtain the optimal hunting alliance by using the proposed alliance selection strategy from numerous callers, so that the collaborative hunting time is shortest under the condition that the recruitment requirements are met as much as possible.

Description

Technical Field

[0001] The present invention relates to the technical field of multi-agent task decision-making, and in particular to a robot collaborative roundup task self-decision-making method based on a recruitment information transmission mechanism. Background Art

[0002] With the rapid development of robotics and swarm intelligence, swarm robot systems can generate desired group behaviors through local interactions between robots and between robots and the environment, and complete complex tasks that a single robot cannot complete. They have the characteristics of strong flexibility and high reliability, making swarm robot research currently attracting widespread attention. As an important direction in swarm robot research, multi-robot collaborative hunting tasks mainly study how multiple robots can cooperate to encircle the target robot in a closed encirclement while avoiding collisions and escape of the target robot. Among them, task decision-making is the key issue of multi-robot collaborative hunting tasks. The set of robots used to obtain the target is the input for executing the hunting action. However, traditional methods rarely consider the problem of limited communication of hunting robots, have high communication requirements, and cannot be applied to large-scale robot collaboration in complex environments. At the same time, there is little research on the selection strategy of the hunting robot alliance. Summary of the invention

[0003] In view of the fact that the traditional method under the current multi-robot collaborative hunting needs to communicate with all robots in the area, and its communication limitation is rarely considered, the embodiment of the present invention provides a multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism. For the multi-robot collaborative hunting task, in order to solve the problem that the traditional method needs to communicate with all robots in the area, resulting in high communication requirements and slow decision-making speed, and cannot be applied to the large-scale robot collaboration problem in complex environments, a multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism is proposed. The present invention aims to capture the target robot in the shortest time, fully considers the limitation of communication within the system, simulates the recruitment behavior of ants in groups, and can quickly calculate the optimal alliance of robots for collaborative hunting. The invention has the advantages of fast decision-making speed, easy implementation, and strong practicality.

[0004] An embodiment of the present invention provides a multi-robot collaborative capture task self-decision-making method based on a recruitment information transmission mechanism, the method comprising:

[0005] Step 1: The capture robot i finds the target robot k during the search process, and calculates the resource capability difference of the capture robot i to capture the target robot k;

[0006] Among them, the resource capacity carried by the capture robot i is expressed as:

[0007] W i =[N1, N2, ..., N p, ..., N type_num ]

[0008] The resource capability required to capture the target robot k is expressed as:

[0009] T k =[M1,M2,...,M q , ..., M type_num ]

[0010] The resource capability difference of the capture robot i to capture the target robot k is expressed as:

[0011] A ik =W i -T k =[a1, a2, …, a q , …, a type_num ]

[0012] Step 2: Determine whether the resource capabilities of the capture robot i can effectively capture the target robot k. If there is a q <0, it means that the capture robot i cannot effectively capture the target robot k, and step 3 is executed;

[0013] Step 3: Start the recruitment time timer T0 and start counting;

[0014] Step 4: As a recruiter, robot i publishes recruitment demand j. The specific recruitment demand is described as j , P j , R j , F j >, where U j is the initiator of recruitment demand j, P j is the destination location for recruiting demand j, R j A set of resource types required to capture the target k, F j The number of resources required to capture the target k;

[0015] Step 5: Determine whether T0 exceeds the maximum recruitment time T max , if not, continue timing and continue recruiting, and execute step 6;

[0016] Step 6: Multiple capture robots within the communication range receive recruitment requirements. The set of capture robots within the communication range is represented as H 1j ={h1, h2, ..., h s , ..., h n};

[0017] Step 7: Encircle the robot set H 1j ​Each capture robot in the game determines whether it responds to the recruitment demand based on its own resource capacity, its own remaining endurance, and the distance between itself and the target k;

[0018] Step 8: Determine whether there is a capture robot that cannot respond within the communication range. s , if yes, go to step nine;

[0019] Step 9: Determine the capture robot h s Are there other capture robots within the communication range? If not, proceed to step 12;

[0020] Step 10: Determine the capture robot h s Have all the capture robots within the communication range received the recruitment request j? If yes, execute step 12;

[0021] Step 11: Encircle the robot s Transfer recruitment requirements j to h s The collection of other capture robots within the communication range that have not received the recruitment demand j is represented as Execute step seven;

[0022] Step 12: The set of robots that respond to recruitment demand j is represented as O j ={o1, o2, ..., o n′}, and send a response recruitment request to recruiter i;

[0023] Step 13: Recruiter i receives the capture robot set O j After responding to the recruitment request, the robot set O j Combine to obtain the alliance set CS = {C1, C2, ..., C m}, so that the latest arrival time of the target robot k is minimized while satisfying the recruitment needs as much as possible;

[0024] Step 14: If m>1, select the alliance with the smallest number of captured robots;

[0025] Step 15: If the number of alliances with the smallest number of captured robots is greater than 1, then select the alliance with the largest total remaining endurance;

[0026] Step 16: If the number of alliances with the largest total remaining endurance is greater than 1, they are selected in order, and their alliance C′ is the set of capture robots selected by the final recruiter i;

[0027] Step 17: Recruiter i sends an agreement response instruction to the selected capture robot;

[0028] Step 18: The capture robot that receives the consent response command goes to capture;

[0029] Step 19: Recruiter i determines whether the resource capabilities provided by the selected capture robot meet the recruitment requirements, and if so, executes step 20;

[0030] Step 20: Stop recruiting and exit calculation.

[0031] In some embodiments of the present invention, in step 2, the method further includes:

[0032] If there is no a q <0, it means that the capture robot i can effectively capture the target robot k, no recruitment is needed, and the calculation is exited.

[0033] In some embodiments of the present invention, in step five, the method further includes:

[0034] If it is judged that T0 exceeds the maximum recruitment time T max , then directly execute step 20.

[0035] In some embodiments of the present invention, in step eight, the method further includes:

[0036] Determine that there is no capture robot that cannot respond within the communication range. s , then directly proceed to step 12.

[0037] In some embodiments of the present invention, in step nine, the method further includes:

[0038] If we judge that the robot h s If there are other capture robots within the communication range, proceed to step 10.

[0039] In some embodiments of the present invention, in step ten, the method further comprises:

[0040] If we judge that the robot h s If all the capture robots within the communication range have not received the recruitment demand j, step eleven is executed.

[0041] In some embodiments of the present invention, in step nineteen, the method further includes:

[0042] If recruiter i determines that the resource capabilities provided by the selected capture robot do not meet the recruitment requirements, the recruitment requirements are updated and step five is executed.

[0043] Compared with the prior art, the beneficial effects of the multi-robot collaborative roundup task self-decision-making method based on the recruitment information transmission mechanism provided by the embodiment of the present invention are: in order to solve the problem of limited communication, a recruitment information transmission mechanism is proposed, and the recruitment demand issued by the recruiter is first transmitted to the roundup robot within the communication range of the recruiter. If there is a roundup robot within the communication range that cannot respond, it is transmitted in turn to other roundup robots within the communication range of the roundup robot until the communication boundary is reached; at the same time, since the capabilities carried by the robots participating in the roundup can only meet part of the recruitment needs, there may be overlap in capabilities between the roundup robots. The recruiter needs to use the proposed alliance selection strategy to obtain the optimal roundup alliance among many applicants, so as to achieve the shortest collaborative roundup time while trying to meet the recruitment needs.

[0044] It targets the self-decision-making problem of multi-robot collaborative capture tasks under limited communication conditions; the proposed recruitment information transmission mechanism is used to solve the problem of limited communication of the capture robots, and the alliance selection strategy is proposed to quickly obtain the optimal capture alliance; it has the advantages of fast decision-making speed, easy implementation and strong practicality. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A schematic diagram of a flow chart of a robot collaborative hunting task self-decision-making method based on a recruitment information transmission mechanism provided by an embodiment of the present invention;

[0046] Figure 2 A schematic diagram of the initial distribution of multiple robots in a robot collaborative hunting task self-decision-making method based on a recruitment information transmission mechanism provided in an embodiment of the present invention;

[0047] Figure 3 A schematic diagram of the transmission of recruitment information between multiple capture robots in a robot collaborative capture task self-decision-making method based on a recruitment information transmission mechanism provided by an embodiment of the present invention;

[0048] Figure 4 A schematic diagram of a capture robot going for capture in a robot collaborative capture task self-decision-making method based on a recruitment information transmission mechanism provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0050] Various aspects and features of the present application are described herein with reference to the accompanying drawings.

[0051] These and other characteristics of the present application will become apparent from the following description of a preferred form of embodiment given as a non-limiting example with reference to the accompanying drawings.

[0052] It should also be understood that, although the present application has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present application that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0053] The above and other aspects, features and advantages of the present application will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

[0054] Specific embodiments of the present application are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments applied for are merely examples of the present application, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to determine the true intent based on the user's historical operations and to avoid unnecessary or redundant details that make the present application unclear. Therefore, the specific structural and functional details applied for herein are not intended to be limiting, but are merely used as the basis and representative basis for the claims to teach those skilled in the art to use the present application in a variety of ways with substantially any suitable detailed structure.

[0055] This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present application.

[0056] The embodiment of the present invention provides a multi-robot collaborative capture task self-decision-making method based on a recruitment information transmission mechanism, such as Figures 1 to 4 As shown, the method includes:

[0057] Step 1: The capture robot i finds the target robot k during the search process, and calculates the resource capability difference of the capture robot i to capture the target robot k;

[0058] Among them, the resource capacity carried by the capture robot i is expressed as:

[0059] W i =[N1, N2, ..., N p , ..., N type_num ]

[0060] The resource capability required to capture the target robot k is expressed as:

[0061] T k =[M1,M2,...,M q , ..., M type_num ]

[0062] The resource capability difference of the capture robot i to capture the target robot k is expressed as:

[0063] A ik =Wi -T k =[a1, a2, …, a q , …, a type_num ]

[0064] Step 2: Determine whether the resource capabilities of the capture robot i can effectively capture the target robot k. If there is a q <0, it means that the capture robot i cannot effectively capture the target robot k, and execute step 3. If it does not, no recruitment is required and the calculation is exited;

[0065] Step 3: Start the recruitment time timer T0 and start counting;

[0066] Step 4: As a recruiter, robot i publishes recruitment demand j. The specific recruitment demand is described as j , P j , R j , F j >, where U j is the initiator of recruitment demand j, P j is the destination location for recruiting demand j, R j A set of resource types required to capture the target k, F j The number of resources required to capture the target k;

[0067] Step 5: Determine whether T0 exceeds the maximum recruitment time T max If not, continue timing and continue recruiting, and execute step 6. If yes, execute step 20;

[0068] Step 6: Multiple capture robots within the communication range receive recruitment requirements. The set of capture robots within the communication range is represented as H 1j ={h1, h2, ..., h s , ..., h n};

[0069] Step 7: Encircle the robot set H 1j Each capture robot in the game determines whether it responds to the recruitment demand based on its own resource capacity, its own remaining endurance, and the distance between itself and the target k;

[0070] Step 8: Determine whether there is a capture robot that cannot respond within the communication range. s If yes, go to step nine, if no, go to step twelve;

[0071] Step 9: Determine the capture robot h s Are there other capture robots within the communication range? If not, proceed to step 12; if yes, proceed to step 10;

[0072] Step 10: Determine the capture robot h​s Have all the capture robots within the communication range received the recruitment demand j? If yes, execute step 12; if not, execute step 11;

[0073] Step 11: Encircle the robot s Transfer recruitment requirements j to h s The collection of other capture robots within the communication range that have not received the recruitment demand j is represented as Execute step seven;

[0074] Step 12: The set of robots that respond to recruitment demand j is represented as O j ={o1, o2, ..., o n′}, and send a response recruitment request to recruiter i;

[0075] Step 13: Recruiter i receives the capture robot set O j After responding to the recruitment request, the robot set O j Combine to obtain the alliance set CS = {C1, C2, ..., C m}, so that the latest arrival time of the target robot k is minimized while satisfying the recruitment needs as much as possible;

[0076] Step 14: If m>1, select the alliance with the smallest number of captured robots;

[0077] Step 15: If the number of alliances with the smallest number of captured robots is greater than 1, then select the alliance with the largest total remaining endurance;

[0078] Step 16: If the number of alliances with the largest total remaining endurance is greater than 1, they are selected in order, and their alliance C′ is the set of capture robots selected by the final recruiter i;

[0079] Step 17: Recruiter i sends an agreement response instruction to the selected capture robot;

[0080] Step 18: The capture robot that receives the consent response command goes to capture;

[0081] Step 19: Recruiter i determines whether the resource capabilities provided by the selected capture robot meet the recruitment requirements. If so, execute step 20. If not, update the recruitment requirements and execute step 5.

[0082] Step 20: Stop recruiting and exit calculation.

[0083] In order to facilitate the understanding of the above technical solution, the following is a detailed description with reference to specific examples and drawings as follows:

[0084] Figure 2This is a schematic diagram of communication between the capture robots. In the figure, the capture robot Ro1 is in the communication range with the capture robots Ro2 and Ro3. The capture robot Ro2 only communicates with the capture robot Ro1. The capture robot Ro3 can communicate with the capture robots Ro1, Ro4 and Ro6. The capture robot Ro4 only communicates with the capture robot Ro3. The capture robot Ro5 only communicates with the capture robot Ro6. The capture robot Ro6 can communicate with the capture robots Ro3 and Ro5.

[0085] The present invention proposes a multi-robot collaborative capture task self-decision-making method based on a recruitment information transmission mechanism, comprising the following steps:

[0086] 1. During the search process, the capture robot Ro1 finds the target robot Ta1 and needs to calculate the capture robot

[0087] The resource capability of person Ro1 to capture target robot Ta1 is poor, specifically:

[0088] 1) Resource capacity of the capture robot Ro1: W1 = [2, 5, 3, 10, 0];

[0089] 2) The resource capability of the target robot Ta1: T1 = [1, 9, 3, 20, 6];

[0090] 3) The resource capability difference between the capture robot Ro1 and the target robot Ta1 can be expressed as:

[0091] A 11 =W1-T1=[1,-4,0,-10,-6]

[0092] 2. Determine whether the resource capabilities of the capture robot Ro1 can effectively capture the target robot Ta1. 11 It can be seen that currently, resource 2 lacks 4, resource 4 lacks 10, and resource 5 lacks 6. The capture robot R01 cannot effectively capture the target robot Ta1 and needs to be recruited;

[0093] 3. Start the recruitment time timer T0=0 and start timing;

[0094] 4. As a recruiter, the capture robot Ro1 publishes recruitment requirement 1. The specific recruitment requirement can be described as:<U1,P1,R1,F1> , where the initiator U1 of the recruitment demand is the capture robot Ro1, the target position P1 of the recruitment demand is (2, 5), the set of resource types required to capture the target Ro1 is R1 = [2, 4, 5], namely resource 2, resource 4, resource 5, and the number of resources required to capture the target Ro1 is W1 = [0, 4, 0, 10, 6];

[0095] 5. Determine whether the recruitment time timer exceeds the maximum recruitment time T max , this value can be determined according to the duration of the task decision expected by the system. If it does not exceed the duration, the timer will continue to be counted and recruitment will continue. If it exceeds the duration, the calculation will be terminated.

[0096] 6. The capture robots Ro2 and Ro3 within the communication range of the capture robot Ro1 receive the recruitment request. The set of capture robots within the communication range can be expressed as H11 = {Ro2, Ro3};

[0097] 7. Each capture robot in the capture robot set H11 determines whether it responds to the recruitment demand based on its own resource capacity, endurance, and distance between itself and target 1. Specifically:

[0098] 1) The resource capacity carried by the capture robot Ro2: W2 = [1, 4, 5, 8, 6], the location is (8, 30), the remaining range is 100m, and it can provide 4 resources 2, 8 resources 4, and 6 resources 5. The distance from the capture robot Ro2 to the target 1 is 26m, and the range is sufficient, so the capture robot R02 can respond;

[0099] 2) The resource capacity of the capture robot Ro3: W3 = [5, 0, 6, 0, 0], the location is (21, 15), the remaining range is 50m, and there are no resources 2, 4, and 5, so the capture robot Ro3 does not respond; the capture robot set H within the communication range 11 There is an unresponsive capture robot Ro3;

[0100] 9. The capture robots Ro1, Ro4 and Ro6 are within the communication range of the capture robot Ro3;

[0101] 10. The capture robot Ro1 within the communication range of the capture robot Ro3 is the initiator of the recruitment demand and has known the recruitment demand. The capture robots Ro4 and Ro6 have not received the recruitment demand 1.

[0102] 11. The capture robot Ro3 passes the recruitment requirement 1 to the capture robot like Figure 3 As shown;

[0103] 12. Round up the robot collection Each capture robot in the game determines whether it responds to the recruitment demand based on its own resource capacity, endurance, and distance between itself and target 1. Specifically:

[0104] 1) The resource capacity carried by the capture robot Ro4: W4 = [0, 0, 6, 8, 9], the location is (24, 30), the remaining range is 100m, and it can provide 8 resources 4 and 9 resources 5. The distance from the capture robot Ro4 to the target 1 is 33m, and the range is sufficient, so the capture robot Ro4 can respond;

[0105] 2) Resource capacity of the capture robot Ro6: W6 = [1, 7, 0, 2, 0], the location is (30, 15), the remaining range is 50m, it can provide 7 resources 2 and 2 resources 4, and the distance between the capture robot Ro6 and the target is 30m, so the capture robot Ro6 can respond;

[0106] 13. Each responding capture robot sends a "response recruitment" request to the recruiter Ro1. The collection of capture robots participating in the response can be expressed as O1 = {Ro2, Ro4, Ro6}; 14. After receiving the "response recruitment" request from the capture robot set O1, the recruiter Ro1 combines the capture robot set O1 to obtain an alliance set. The alliance set should minimize the latest arrival time at the target robot Ta1 while satisfying as many recruitment requirements as possible. Specifically:

[0107] 1) Alliance 1 is C1 = {Ro2}, the number of participating alliances is 1 roundup robot, resource 4 is missing 2, the remaining endurance is 100m, and the distance to target 1 is 26m;

[0108] 2) Alliance 2 is C2 = {Ro4}, the number of participating alliances is 1 roundup robot, 4 resources 2 are missing, 2 resources 4 are missing, a total of 6 resources are missing, the remaining endurance is 100m, and the distance to the target is 33m;

[0109] 3) Alliance 3 is C3 = {Ro6}, the number of participating alliances is 1 roundup robot, resource 4 is missing 8, resource 5 is missing 6, a total of 14 resources are missing, the remaining range is 50m, and the distance to the target is 30m;

[0110] 4) Alliance 4 is C4 = {Ro2, Ro4}, with two participating robots, and can provide a total of W2 + W4 = [1, 4, 11, 16, 15] resources, which fully meets the recruitment requirements. The remaining endurance of Ro2 is 100m, and the remaining endurance of Ro4 is 100m. The distances to the target are 26m and 33m respectively.

[0111] 5) Alliance 5 is C5 = {Ro4, Ro6}, with 2 participating robots, and the total resources provided are W4 + W6 = [1, 7, 6, 10, 9], which fully meets the recruitment requirements. The remaining endurance of Ro4 is 100m, and the remaining endurance of Ro6 is 50m. The distances to the target are 33m and 30m respectively.

[0112] 6) Alliance 6 is C6 = {Ro2, Ro6}, and the number of participating alliances is 2 round-up robots. The total resources that can be provided are W2 + W6 = [2, 11, 5, 10, 6], which fully meets the recruitment requirements. The remaining endurance of Ro2 is 100m, and the remaining endurance of Ro6 is 50m. The distances to the target are 26m and 30m respectively.

[0113] 7) Alliance 7 is C7 = {Ro2, Ro4, Ro6}, and the number of participating alliances is 3 capture robots. The total resources that can be provided are W2+W4+W6 = [2, 11, 11, 18, 15], which fully meets the recruitment requirements. The remaining endurance of Ro2 is 100m, the remaining endurance of Ro4 is 100m, and the remaining endurance of Ro6 is 50m. The distances to the target are 26m, 33m, and 30m respectively.

[0114] Among the above alliances, we first look for alliances that can meet as many recruitment needs as possible, among which C4 = {Ro2, Ro4}, C5 = {Ro4, Ro6}, C6 = {Ro2, Ro6}, and C7 = {Ro2, Ro4, Ro6} can all meet the recruitment needs. Among these alliances, the alliance with the shortest arrival time of the target robot is only Alliance 6 C6 = {Ro2, Ro6}.

[0115] 15. Alliance C6 = {Ro2, Ro6} is the collection of capture robots selected by the final recruiter Ro1;

[0116] 16. Recruiter Ro1 sends an agreement response command to the selected capture robots Ro2 and Ro6;

[0117] 17. After receiving the "Agree to Response" command, the capture robots Ro2 and Ro6 go to capture. Figure 4 As shown;

[0118] 18. The resource capabilities provided by the capture robots Ro2 and Ro6 selected by recruiter Ro1 meet the recruitment requirements, so recruitment is stopped and calculation is exited.

[0119] It can be known from the above technical scheme that the above-mentioned multi-robot collaborative roundup task self-decision-making method based on the recruitment information transmission mechanism of the present invention proposes a recruitment information transmission mechanism to solve the problem of limited communication. The recruitment demand issued by the recruiter is first transmitted to the roundup robot within the communication range of the recruiter. If there is a roundup robot within the communication range that cannot respond, it is transmitted in turn to other roundup robots within the communication range of the roundup robot until the communication boundary is reached; at the same time, since the capabilities carried by the robots participating in the roundup can only meet part of the recruitment needs, there may be overlaps in capabilities between the roundup robots. The recruiter needs to use the proposed alliance selection strategy to obtain the optimal roundup alliance among many applicants, so as to achieve the shortest collaborative roundup time while trying to meet the recruitment needs.

[0120] It targets the self-decision-making problem of multi-robot collaborative capture tasks under limited communication conditions; the proposed recruitment information transmission mechanism is used to solve the problem of limited communication of the capture robots, and the alliance selection strategy is proposed to quickly obtain the optimal capture alliance; it has the advantages of fast decision-making speed, easy implementation and strong practicality.

[0121] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A multi-robot collaborative hunting task self-decision-making method based on recruitment information transmission mechanism, characterized in that: The method comprises: Step 1: The capture robot i finds the target robot k during the search process, and calculates the resource capability difference of the capture robot i to capture the target robot k; Among them, the resource capacity carried by the capture robot i is expressed as: W i =[N1,N2,...,N p ,...,N type_num ] The resource capability required to capture the target robot k is expressed as: T k =[M1,M2,...,M q ,...,M type_num ] The resource capability difference of the capture robot i to capture the target robot k is expressed as: A ik =W i -T k =[a1,a2,...,a q ,...,a type_num ] Step 2: Determine whether the resource capabilities of the capture robot i can effectively capture the target robot k. If there is a q <0, it means that the capture robot i cannot effectively capture the target robot k, and step 3 is executed; Step 3: Start the recruitment time timer T0 and start counting; Step 4: As a recruiter, robot i publishes recruitment demand j. The specific recruitment demand is described as j , P j , R j , F j >, where U j is the initiator of recruitment demand j, P j is the destination location for recruiting demand j, R j A set of resource types required to capture the target k, F j The number of resources required to capture the target k;​ Step 5: Determine whether T0 exceeds the maximum recruitment time T max , if not, continue timing and continue recruiting, and execute step 6; Step 6: Multiple capture robots within the communication range receive recruitment requirements. The set of capture robots within the communication range is represented as H 1j ={h1, h2, ..., h s , ..., h n }; Step 7: Encircle the robot set H 1j Each capture robot in the game determines whether it responds to the recruitment demand based on its own resource capacity, its own remaining endurance, and the distance between itself and the target k; Step 8: Determine whether there is a capture robot that cannot respond within the communication range. s , if yes, go to step nine; Step 9: Determine the capture robot h s Are there other capture robots within the communication range? If not, proceed to step 12; Step 10: Determine the capture robot h s Have all the capture robots within the communication range received the recruitment request j? If yes, execute step 12; Step 11: Encircle the robot s Transfer recruitment requirements j to h s The collection of other capture robots within the communication range that have not received the recruitment demand j is represented as Execute step seven; Step 12: The set of robots that respond to recruitment demand j is represented as O j ={o1, o2, ..., o n′ }, and send a response recruitment request to recruiter i; Step 13: Recruiter i receives the capture robot set O j After responding to the recruitment request, the robot set O j Combine to obtain the alliance set CS = {C1, C2, ..., C m }, so that the latest arrival time of the target robot k is minimized while satisfying the recruitment needs as much as possible; Step 14: If m>1, select the alliance with the smallest number of captured robots; Step 15: If the number of alliances with the smallest number of captured robots is greater than 1, then select the alliance with the largest total remaining endurance; Step 16: If the number of alliances with the largest total remaining endurance is greater than 1, they are selected in order, and their alliance C′ is the set of capture robots selected by the final recruiter i; Step 17: Recruiter i sends an agreement response instruction to the selected capture robot; Step 18: The capture robot that receives the consent response command goes to capture; Step 19: Recruiter i determines whether the resource capabilities provided by the selected capture robot meet the recruitment requirements, and if so, executes step 20; Step 20: Stop recruiting and exit calculation.

2. The multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism according to claim 1 is characterized in that: In step 2, the method further includes: If there is no a q <0, it means that the capture robot i can effectively capture the target robot k, no recruitment is needed, and the calculation is exited.

3. The multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism according to claim 2 is characterized in that: In step five, the method further includes: If it is judged that T0 exceeds the maximum recruitment time T max , then directly execute step 20.

4. The multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism according to claim 3 is characterized in that: In step eight, the method further includes: Determine that there is no capture robot that cannot respond within the communication range. s , then directly proceed to step 12.

5. The multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism according to claim 4 is characterized in that: In step nine, the method further includes: If we judge that the robot h s If there are other capture robots within the communication range, proceed to step 10.

6. The multi-robot collaborative hunting task self-decision-making method based on the recruitment information transmission mechanism according to claim 5 is characterized in that: In step ten, the method further comprises: If we judge that the robot h s If all the capture robots within the communication range have not received the recruitment demand j, step eleven is executed.

7. The multi-robot collaborative capture task self-decision-making method based on the recruitment information transmission mechanism according to claim 6 is characterized in that: In step nineteen, the method further includes: If recruiter i determines that the resource capabilities provided by the selected capture robot do not meet the recruitment requirements, the recruitment requirements are updated and step five is executed.

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