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This paper is concerned with the hunting problem of unmanned surface vehicles (USVs) subject to measurement noise. First, uncertainty-aware Voronoi-partioning among USVs and between USVs and obstacles are generated based on the best linear separator and max-margin hyperplane, respectively. Next, considering the factors of USV size and collision avoidance probability, buffers are introduced to the boundaries of the constructed Voronoi cells. Then, a series of hunting centorid points are generated based a buffered evader-centered uncertainty-Aware Voronoi cells (B-ECUAVCs) strategy including an encircling and a capture phases. Finally, a line-of-sight guidance method is proposed for pursuing USVs to achieve the tracking of hunting centorid points, such that the evading USV can be hunting in an unbounded area.

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Buffered Uncertainty-Aware Voronoi-Based Cooperative Collision-Free Hunting of Multiple USVs Subject to Gaussian Measurement Noises

  • 会议论文

  • 发表日期：

    2026年

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  • Jinbo Lu,
  • Nan Gu,
  • Haoliang Wang,
  • Anqing Wang,
  • Lu Liu,
  • Zhouhua Peng

摘要

This paper is concerned with the hunting problem of unmanned surface vehicles (USVs) subject to measurement noise. First, uncertainty-aware Voronoi-partioning among USVs and between USVs and obstacles are generated based on the best linear separator and max-margin hyperplane, respectively. Next, considering the factors of USV size and collision avoidance probability, buffers are introduced to the boundaries of the constructed Voronoi cells. Then, a series of hunting centorid points are generated based a buffered evader-centered uncertainty-Aware Voronoi cells (B-ECUAVCs) strategy including an encircling and a capture phases. Finally, a line-of-sight guidance method is proposed for pursuing USVs to achieve the tracking of hunting centorid points, such that the evading USV can be hunting in an unbounded area.