Self-decision method for robot cooperative hunting task based on recruitment information transmission mechanism

Abstract

This invention provides a self-decision-making method for multi-robot collaborative encirclement tasks based on a recruitment information transmission mechanism. To address the problem of limited communication, a recruitment information transmission mechanism is proposed. The recruitment request issued by the recruiter is first transmitted to the encirclement robots within the recruiter's communication range. If any encirclement robot within the communication range cannot respond, the request is transmitted sequentially to other encirclement robots within the communication range of that encirclement robot until the communication boundary is reached. At the same time, since the capabilities carried by the robots participating in the encirclement can only meet part of the recruitment requirements, there may be overlap in capabilities among the encirclement robots. The recruiter needs to use the proposed alliance selection strategy to obtain the optimal encirclement alliance from among many responders, so as to achieve the shortest collaborative encirclement time while satisfying the recruitment requirements as much as possible.

Description

Technical Field

[0001] This invention relates to the field of multi-agent task decision-making technology, and in particular to a self-decision-making method for robot collaborative encirclement tasks based on a recruitment information transmission mechanism. Background Technology

[0002] With the rapid development of robotics and swarm intelligence, swarm robot systems can generate desired collective behaviors through local interactions between robots and between robots and the environment, accomplishing complex tasks that a single robot cannot. They possess high flexibility and reliability, making swarm robot research a focus of current attention. Multi-robot cooperative encirclement tasks, as an important direction in swarm robot research, mainly study how multiple robots can cooperate to surround a target robot within a closed encirclement, while avoiding collisions and the target robot's escape. Task decision-making is a key issue in multi-robot cooperative encirclement tasks, used to determine the set of robots to be surrounded, serving as the input for executing the encirclement action. However, traditional methods rarely consider the communication limitations of the encircling robots, have high communication requirements, and are not suitable for large-scale robot cooperation problems in complex environments. Furthermore, research on selection strategies for encirclement robot alliances is limited. Summary of the Invention

[0003] In view of the problem that traditional methods for multi-robot cooperative encirclement require communication with all robots in the area, and their communication limitations are not adequately considered, this invention provides a self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism. Specifically, to address the issue that traditional methods require communication with all robots in the area, resulting in high communication requirements, slow decision-making speed, and unsuitability for large-scale robot cooperation in complex environments, this invention proposes a self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism. This invention aims to minimize the time required to encircle the target robot, fully considers the limitations of communication within the system, and simulates the recruitment behavior of ant swarms. It can quickly calculate the optimal alliance of robots for cooperative encirclement. This invention has the advantages of fast decision-making speed, ease of implementation, and strong practicality.

[0004] This invention provides a self-decision-making method for a multi-robot cooperative encirclement task based on a recruitment information transmission mechanism. The method includes:

[0005] Step 1: During the search process, the hunting robot i discovers the target robot k and calculates the resource deficiency of hunting robot i in capturing the target robot k.

[0006] The resource capabilities carried by the capture robot i are represented as follows:

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

[0008] The resource capacity required to capture the target robot k is represented as follows:

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

[0010] The difference in resource capability between the capturing robot i and the target robot k is represented as:

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

[0012] Step 2: Determine whether the resources and capabilities of the capture robot i are sufficient to effectively capture the target robot k. If a q If <0, it means that the trapping robot i cannot effectively capture the target robot k, and proceed to step three;

[0013] Step 3: Start the recruitment timer T0 to begin timing;

[0014] Step 4: The capture robot i, acting as the recruiter, posts a recruitment request j. The specific recruitment request is described as follows: j P j R j F j >, where U j P is the initiator of recruitment demand j. j It is the target location for recruitment demand j, R j F is a set of resource types required to capture target k. j The quantity of each resource required to capture target k;

[0015] Step 5: Simultaneously determine whether T0 exceeds the maximum recruitment duration T. max If not, continue timing and recruitment, and proceed to step six;

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

[0017] Step 7: Assemble the H-group of the capture robots 1j ​Each capture robot in the process determines whether to respond to the recruitment request based on three factors: its own resource capabilities, its remaining battery life, and its distance from the target k.

[0018] Step 8: Determine if there are any unresponsive capture robots within communication range. s If so, proceed to step nine;

[0019] Step Nine: Determine the capture robot h s Are there any other capture robots within the communication range? If not, proceed to step twelve.

[0020] Step 10: Determine the capture robot h s Have all the capture robots within the communication range received the recruitment request j? If so, proceed to step twelve.

[0021] Step 11: Encircle and capture robot h s Transmit recruitment requirements from j to h s Other capture robots within the communication range that have not received recruitment request j, the set of capture robots is represented as follows: Perform step seven;

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

[0023] Step 13: Recruiter i receives the encirclement robot set O j After responding to the recruitment request, the group of capture robots O j By combining them, we obtain the alliance set CS = {C1, C2, ..., C}. m This minimizes the time required for the latest robot k to arrive while maximizing the fulfillment of recruitment needs.

[0024] Step Fourteen: If m > 1, then select the alliance with the smallest number of capture robots;

[0025] Step 15: If the alliance with the smallest number of capture robots has more than 1, then select the alliance with the largest total remaining battery life.

[0026] Step 16: If the number of alliances with the largest total remaining endurance is greater than 1, then the alliances 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 command to the selected capture robot;

[0028] Step 18: Upon receiving the consent response command, the capture robot proceeds to the capture site;

[0029] Step 19: Recruiter i determines whether the resources provided by the selected capture robot meet the recruitment requirements. If they do, proceed to Step 20.

[0030] Step 20: Stop recruitment and exit the calculation.

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

[0032] If a does not exist q If <0, it means that the trapping robot i can effectively capture the target robot k, and there is no need to recruit it, so the calculation is terminated.

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

[0034] If it is determined that T0 exceeds the maximum recruitment duration T max If so, proceed directly to step twenty.

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

[0036] Determine if there is no unresponsive capture robot h within communication range. s If so, proceed directly to step twelve.

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

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

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

[0040] If we determine the capture robot h s If none of the capture robots within the communication range receive the recruitment request j, then proceed to step eleven.

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

[0042] If recruiter i determines that the resources provided by the selected capture robot do not meet the recruitment requirements, then update the recruitment requirements and proceed to step five.

[0043] Compared with existing technologies, the beneficial effects of the self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism provided in this invention are as follows: To solve the problem of limited communication, a recruitment information transmission mechanism is proposed. The recruitment request issued by the recruiter is first transmitted to the encirclement robots within the recruiter's communication range. If any encirclement robot within the communication range cannot respond, the request is transmitted sequentially to other encirclement robots within the communication range of that encirclement robot until the communication boundary is reached. At the same time, since the capabilities carried by the robots participating in the encirclement can only meet part of the recruitment requirements, there may be overlap in capabilities among the encirclement robots. The recruiter needs to use the proposed alliance selection strategy to obtain the optimal encirclement alliance from among many responders, so as to achieve the shortest cooperative encirclement time while satisfying the recruitment requirements as much as possible.

[0044] It addresses the self-decision-making problem of multi-robot cooperative encirclement tasks under limited communication conditions; the proposed recruitment information transmission mechanism is used to solve the problem of limited communication among encirclement robots, and a coalition selection strategy is proposed to quickly obtain the optimal encirclement coalition; it has the advantages of fast decision-making speed, easy implementation, and strong practicality. Attached Figure Description

[0045] Figure 1 This is a flowchart illustrating the self-decision-making method for robot collaborative encirclement tasks based on a recruitment information transmission mechanism, as provided in an embodiment of the present invention.

[0046] Figure 2 This is a schematic diagram of the initial distribution of multiple robots in the self-decision-making method for robot cooperative encirclement tasks based on a recruitment information transmission mechanism provided in an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram illustrating the transmission of recruitment information among multiple encirclement robots in a self-decision-making method for robot collaborative encirclement tasks based on a recruitment information transmission mechanism provided in an embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram of a robot going to surround and capture in a self-decision-making method for robot collaborative encirclement and capture tasks based on a recruitment information transmission mechanism, provided in an embodiment of the present invention. Detailed Implementation

[0049] To enable those skilled in the art to better understand the technical solution of the present invention, the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

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

[0051] These and other features of this application will become apparent from the following description of preferred forms of embodiments given as non-limiting examples, with reference to the accompanying drawings.

[0052] It should also be understood that although this application has been described with reference to some specific examples, those skilled in the art can certainly implement many other equivalent forms of this application, which have the features described in the claims and are therefore all within the scope of protection defined herein.

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

[0054] Specific embodiments of this application are described below with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of this application, which can be implemented in various ways. Well-known and / or repeated functions and structures are not described in detail to ascertain the true intent based on the user's historical operations, and to avoid unnecessary or redundant details that would obscure this application. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as the basis and representative basis for the claims to teach those skilled in the art to use this application in various 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 this application.

[0056] This invention provides a self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism, such as... Figures 1 to 4 As shown, the method includes:

[0057] Step 1: During the search process, the hunting robot i discovers the target robot k and calculates the resource deficiency of hunting robot i in capturing the target robot k.

[0058] The resource capabilities carried by the capture robot i are represented as follows:

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

[0060] The resource capacity required to capture the target robot k is represented as follows:

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

[0062] The difference in resource capability between the capturing robot i and the target robot k is represented as:

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

[0064] Step 2: Determine whether the resources and capabilities of the capture robot i are sufficient to effectively capture the target robot k. If a q If <0, it means that the trapping robot i cannot effectively capture the target robot k, and proceed to step three; otherwise, recruitment is not required, and the calculation is terminated.

[0065] Step 3: Start the recruitment timer T0 to begin timing;

[0066] Step 4: The capture robot i, acting as the recruiter, posts a recruitment request j. The specific recruitment request is described as follows: j P j R j F j >, where U j P is the initiator of recruitment demand j. j It is the target location for recruitment demand j, R j F is a set of resource types required to capture target k. j The quantity of each resource required to capture target k;

[0067] Step 5: Simultaneously determine whether T0 exceeds the maximum recruitment duration T. max If not, continue timing and recruitment, proceed to step six; if yes, proceed to step twenty.

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

[0069] Step 7: Assemble the H-group of the capture robots 1j Each capture robot in the process determines whether to respond to the recruitment request based on three factors: its own resource capabilities, its remaining battery life, and its distance from the target k.

[0070] Step 8: Determine if there are any unresponsive capture robots within communication range. s If yes, proceed to step nine; otherwise, proceed to step twelve.

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

[0072] Step 10: Determine the capture robot h​s If all the capture robots within the communication range have received the recruitment request j, proceed to step 12; otherwise, proceed to step 11.

[0073] Step 11: Encircle and capture robot h s Transmit recruitment requirements from j to h s Other capture robots within the communication range that have not received recruitment request j, the set of capture robots is represented as follows: Perform step seven;

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

[0075] Step 13: Recruiter i receives the encirclement robot set O j After responding to the recruitment request, the group of capture robots O j By combining them, we obtain the alliance set CS = {C1, C2, ..., C}. m This minimizes the time required for the latest robot k to arrive while maximizing the fulfillment of recruitment needs.

[0076] Step Fourteen: If m > 1, then select the alliance with the smallest number of capture robots;

[0077] Step 15: If the alliance with the smallest number of capture robots has more than 1, then select the alliance with the largest total remaining battery life.

[0078] Step 16: If the number of alliances with the largest total remaining endurance is greater than 1, then the alliances 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 command to the selected capture robot;

[0080] Step 18: Upon receiving the consent response command, the capture robot proceeds to the capture site;

[0081] Step 19: Recruiter i determines whether the resources provided by the selected capture robot meet the recruitment requirements. If they do, proceed to Step 20; otherwise, update the recruitment requirements and proceed to Step 5.

[0082] Step 20: Stop recruitment and exit the calculation.

[0083] To facilitate understanding of the above technical solutions, a detailed explanation is provided below with reference to specific examples and accompanying drawings:

[0084] Figure 2The diagram illustrates the communication between the various encirclement robots. In the diagram, encirclement robot Ro1 is within communication range of encirclement robots Ro2 and Ro3. Encirclement robot Ro2 only communicates with encirclement robot Ro1. Encirclement robot Ro3 can communicate with encirclement robots Ro1, Ro4, and Ro6. Encirclement robot Ro4 only communicates with encirclement robot Ro3. Encirclement robot Ro5 only communicates with encirclement robot Ro6. Encirclement robot Ro6 can communicate with encirclement robots Ro3 and Ro5.

[0085] This invention proposes a self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism, comprising the following steps:

[0086] 1. During the search process, the encirclement robot Ro1 discovers the target robot Ta1. The encirclement robot needs to be calculated.

[0087] Human Ro1 has poor resource acquisition capabilities for target robot Ta1, specifically:

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

[0089] 2) Capture the resource capabilities carried by the target robot Ta1: T1 = [1, 9, 3, 20, 6];

[0090] 3) The poor resource acquisition capability of the encirclement robot Ro1 in capturing the target robot Ta1 can be expressed as:

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

[0092] 2. Determine whether the resources available to the trapping robot Ro1 are sufficient to effectively capture the target robot Ta1, based on the calculated A. 11 It is known that resource 2 is currently short of 4, resource 4 is short of 10, and resource 5 is short of 6. The capture robot R01 cannot effectively capture the target robot Ta1, and recruitment is required.

[0093] 3. Start the recruitment timer T0=0, and begin timing;

[0094] 4. The capture robot Ro1, acting as the recruiter, issues recruitment requirement 1. The specific recruitment requirement can be described as follows:<U1,P1,R1,F1> The initiator of the recruitment request, U1, is the capture robot Ro1. The target location of the recruitment request, P1, is (2, 5). The resource type required for the capture target Ro1 is R1 = [2, 4, 5], i.e., resource 2, resource 4, resource 5. The resource quantity required for the capture target Ro1 is W1 = [0, 4, 0, 10, 6].

[0095] 5. Determine if the recruitment timer has exceeded the maximum recruitment duration T. max This value can be determined based on the system's expected task decision duration. If the time limit is not exceeded, the timer continues and recruitment continues; if the time limit is exceeded, the calculation is terminated.

[0096] 6. When the encirclement robot Ro1 receives a recruitment request, the encirclement robots Ro2 and Ro3 within its communication range can be represented as H11 = {Ro2, Ro3}.

[0097] 7. Each encirclement robot in the H11 group determines whether to respond to the recruitment request based on three factors: its own resource capabilities, its own endurance, and its distance from target 1. Specifically:

[0098] 1) Resource capacity carried by the trapping robot Ro2: W2 = [1, 4, 5, 8, 6], located at (8, 30), with a remaining range of 100m, it can provide 4 resources of resource 2, 8 resources of resource 4, and 6 resources of resource 5. The distance from the trapping robot Ro2 to target 1 is 26m, and the range is sufficient, so the trapping robot Ro2 can respond.

[0099] 2) Resource capacity of the encirclement robot Ro3: W3 = [5, 0, 6, 0, 0], located at (21, 15), with a remaining range of 50m. Resources 2, 4, and 5 are unavailable, therefore the encirclement robot Ro3 does not respond; within the communication range, the encirclement robot set H... 11 There is an unresponsive capture robot Ro3 in the middle;

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

[0101] 10. Within the communication range of the trapping robot Ro3, the trapping robot Ro1 is the initiator of the recruitment request and is aware of the recruitment request. The trapping robots Ro4 and Ro6 have not received the recruitment request 1.

[0102] 11. The Ro3 robot transmits recruitment requests to the Ro3 robot. like Figure 3 As shown;

[0103] 12. Encirclement and capture robots assemble Each capture robot in the process determines whether to respond to the recruitment request based on three factors: its own resource capabilities, its own endurance, and its distance from target 1. Specifically:

[0104] 1) Resource capacity carried by the capture robot Ro4: W4 = [0, 0, 6, 8, 9], located at (24, 30), with a remaining range of 100m, it can provide 8 resource 4s and 9 resource 5s. The distance between the capture robot Ro4 and target 1 is 33m, and the range is sufficient, so the capture robot Ro4 can respond.

[0105] 2) Resource capacity carried by the capture robot Ro6: W6 = [1, 7, 0, 2, 0], located at (30, 15), with a remaining range of 50m, it can provide 7 resource 2s and 2 resource 4s. The distance between the capture robot Ro6 and the target is 30m, so the capture robot Ro6 can respond.

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

[0107] 1) Alliance 1 is C1={Ro2}, with 1 hunting robot participating in the alliance, 2 resources missing from resource 4, remaining endurance of 100m, and distance to target 1 of 26m;

[0108] 2) Alliance 2 is C2={Ro4}, with 1 hunting robot participating in the alliance. Resource 2 is missing 4, Resource 4 is missing 2, for 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}, with 1 hunting robot participating in the alliance. Resource 4 is missing 8, resource 5 is missing 6, for 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 2 hunting robots participating in the alliance. The total resources that can be provided are W2 + W4 = [1, 4, 11, 16, 15], which fully meets the recruitment requirements. Ro2 has a remaining endurance of 100m and Ro4 has a remaining endurance of 100m. The distances to the target are 26m and 33m respectively.

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

[0112] 6) Alliance 6 is C6={Ro2,Ro6}, with 2 hunting robots participating in the alliance. The total resources available are W2+W6=[2,11,5,10,6], which fully meets the recruitment requirements. Ro2 has a remaining endurance of 100m, Ro6 has a remaining endurance of 50m, and the distances to the target are 26m and 30m respectively.

[0113] 7) Alliance 7 is C7 = {Ro2, Ro4, Ro6}, with 3 hunting robots participating in the alliance. The total resources available are W2 + W4 + W6 = [2, 11, 11, 18, 15], which fully meets the recruitment requirements. Ro2 has a remaining range of 100m, Ro4 has a remaining range of 100m, and Ro6 has a remaining range of 50m. Their distances from the target are 26m, 33m, and 30m, respectively.

[0114] Among the above alliances, we first look for alliances that can meet the recruitment requirements as much as possible. C4 = {Ro2, Ro4}, C5 = {Ro4, Ro6}, C6 = {Ro2, Ro6}, and C7 = {Ro2, Ro4, Ro6} can all meet the recruitment requirements. Among these alliances, only alliance 6 C6 = {Ro2, Ro6} has the shortest time to arrive at the target robot.

[0115] 15. Alliance C6 = {Ro2, Ro6} is the set 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. Upon receiving the "agreement response" instruction, the capture robots Ro2 and Ro6 proceed to the capture site, as follows: Figure 4 As shown;

[0118] 18. The resources provided by the trapping robots Ro2 and Ro6 selected by recruiter Ro1 meet the recruitment requirements. Recruitment stops and calculation ends.

[0119] As can be seen from the above technical solution, the self-decision-making method for multi-robot collaborative encirclement tasks 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 request issued by the recruiter is first transmitted to the encirclement robots within the recruiter's communication range. If there are encirclement robots within the communication range that cannot respond, the request is transmitted sequentially to other encirclement robots within the communication range of the encirclement robot until the communication boundary is reached. At the same time, since the capabilities carried by the robots participating in the encirclement can only meet part of the recruitment requirements, there may be overlap in capabilities among the encirclement robots. The recruiter needs to use the proposed alliance selection strategy to obtain the optimal encirclement alliance from among many respondents in order to achieve the shortest collaborative encirclement time while satisfying the recruitment requirements as much as possible.

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

[0121] The above embodiments are merely exemplary embodiments of the present invention and are not intended to limit the present invention. The scope of protection of the present invention is defined by the claims. Those skilled in the art can make various modifications or equivalent substitutions to the present invention within its spirit and scope of protection, and such modifications or equivalent substitutions should also be considered to fall within the scope of protection of the present invention.

Claims

1. A self-decision-making method for a multi-robot cooperative encirclement task based on a recruitment information transmission mechanism, characterized in that, The method includes: Step 1: During the search process, the hunting robot i discovers the target robot k and calculates the resource deficiency of hunting robot i in capturing the target robot k. The resource capabilities carried by the capture robot i are represented as follows: W i =[N1,N2,...,N p ,...,N type_num ] The resource capacity required to capture the target robot k is represented as follows: T k =[M1,M2,...,M q ,...,M type_num ] The difference in resource capability between the capturing robot i and the target robot k is represented as: A ik =W i -T k =[a1,a2,...,a q ,...,a type_num ] Step 2: Determine whether the resources and capabilities of the capture robot i are sufficient to effectively capture the target robot k. If a q If <0, it means that the trapping robot i cannot effectively capture the target robot k, and proceed to step three; Step 3: Start the recruitment timer T0 to begin timing; Step 4: The capture robot i, acting as the recruiter, posts a recruitment request j. The specific recruitment request is described as follows: j P j R j F j >, where U j P is the initiator of recruitment demand j. j It is the target location for recruitment demand j, R j F is a set of resource types required to capture target k. j The quantity of each resource required to capture target k;​ Step 5: Simultaneously determine whether T0 exceeds the maximum recruitment duration T. max If not, continue timing and recruitment, and proceed to step six; Step Six: Multiple capture robots within the communication range receive recruitment requests. The set of capture robots within the communication range is represented by H. 1j ={h1, h2, ..., h s , ..., h n }; Step 7: Assemble the H-group of the capture robots 1j Each capture robot in the process determines whether to respond to the recruitment request based on three factors: its own resource capabilities, its remaining battery life, and its distance from the target k. Step 8: Determine if there are any unresponsive capture robots within communication range. s If so, proceed to step nine; Step Nine: Determine the capture robot h s Are there any other capture robots within the communication range? If not, proceed to step twelve. Step 10: Determine the capture robot h s Have all the capture robots within the communication range received the recruitment request j? If so, proceed to step twelve. Step 11: Encircle and capture robot h s Transmit recruitment requirements from j to h s Other capture robots within the communication range that have not received recruitment request j, the set of capture robots is represented as follows: Perform step seven; Step 12: The set of robots responding to recruitment demand j is represented as O. j ={o1, o2, ..., o n′ }, and send a recruitment response to recruiter i; Step 13: Recruiter i receives the encirclement robot set O j After responding to the recruitment request, the group of capture robots O j By combining them, we obtain the alliance set CS = {C1, C2, ..., C}. m This minimizes the time required for the latest robot k to arrive while maximizing the fulfillment of recruitment needs. Step Fourteen: If m > 1, then select the alliance with the smallest number of capture robots; Step 15: If the alliance with the smallest number of capture robots has more than 1, then select the alliance with the largest total remaining battery life. Step 16: If the number of alliances with the largest total remaining endurance is greater than 1, then the alliances 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 command to the selected capture robot; Step 18: Upon receiving the consent response command, the capture robot proceeds to the capture site; Step 19: Recruiter i determines whether the resources provided by the selected capture robot meet the recruitment requirements. If they do, proceed to Step 20. Step 20: Stop recruitment and exit the calculation.

2. The self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism according to claim 1, characterized in that, In step two, the method further includes: If a does not exist q If <0, it means that the trapping robot i can effectively capture the target robot k, and there is no need to recruit it, so the calculation is terminated.

3. The self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism according to claim 2, characterized in that, In step five, the method further includes: If it is determined that T0 exceeds the maximum recruitment duration T max If so, proceed directly to step twenty.

4. The self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism according to claim 3, characterized in that, In step eight, the method further includes: Determine if there is no unresponsive capture robot h within communication range. s If so, proceed directly to step twelve.

5. The self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism according to claim 4, characterized in that, In step nine, the method further includes: If we determine the capture robot h s If there are other capture robots within the communication range, proceed to step ten.

6. The self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism according to claim 5, characterized in that, In step ten, the method further includes: If we determine the capture robot h s If none of the capture robots within the communication range receive the recruitment request j, then proceed to step eleven.

7. The self-decision-making method for multi-robot cooperative encirclement tasks based on a recruitment information transmission mechanism according to claim 6, characterized in that, In step nineteen, the method further includes: If recruiter i determines that the resources provided by the selected capture robot do not meet the recruitment requirements, then update the recruitment requirements and proceed to step five.

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