Research on multi-robots self-organizing cooperative pursuit algorithm based on Voronoi graph

For the problem that the traditional distributed algorithm based on Voronoi graph has a low efficiency and a large standard deviation in capturing random targets, an improved Voronoi graph self-organizing cooperative hunting algorithm is proposed. Through selecting the nearest midpoint of common Voronoi graph boundary, pursuers find their own targets, and become the pursuers alliance for the same target. Each pursuer in the group uses target Voronoi graph area minimization strategy to capture. Simulation results show that the algorithm proposed in this paper can significantly improve the average time and standard deviation of target capture when the targets adopts different escape strategies.