能量均衡的围捕任务分配方法

随着水下机器人反围捕策略研究的不断深入，水下机器人围捕变得越来越困难。为此构建一种多层环状伏击围捕模型并设计了基于围捕任务的任务分配方法，使得水下机器人能够充分利用自身的特点更好地完成任务。同时，考虑在围捕过程中随时间推移，系统内能量会出现消耗不均的现象，据此提出一种能量均衡方法平衡系统能量的消耗。实验证明所提出的基于多层环状围捕模型的能量均衡策略任务分配方法能有效提高围捕成功率，延长系统寿命。

Method of capturing task allocation based on energy balance

With the deepening of the research on anti-encirclement strategy of underwater vehicles, the encirclement of underwater vehicles has been more and more difficult. For this reason, a multi-layer annular ambush capture model was constructed and a task assignment method based on the capture task was designed, so that the underwater vehicle can make full use of its own characteristics to complete the task better. At the same time, considering that the energy consumption in the system is uneven with the passage of time in the capture process, an energy balance method was proposed to balance the energy consumption of the system. Experiments show that the proposed task allocation method based on the energy balance strategy of multi-layer annular capture model can effectively improve the success rate of capture and prolong the life of the system.