Navigational Situation Prediction Based Multi-USV Cooperative Hunting Algorithm

In the field of multi-robot systems, cooperative hunting by Unmanned Surface Vehicles (USVs) is a prominent research topic. To enhance the efficiency of cooperative hunting by USVs, the Navigational Situation Control algorithm based on Least Square Method prediction (LSM-NSC algorithm) is proposed in this paper. First, it is employed to assign an appropriate hunting point to each USV in real-time. Second, it calculates the corresponding prediction time based on the current environment. Next, it dynamically predicts the position of target using the trajectory of the moving target and the prediction time. Then, it calculates the predicted hunting point for each hunter based on the predicted position of the target and controls the hunter to reach their respective predicted hunting points. Once a USV arrives at the predicted hunting point, it has also reached the actual hunting point. Simulation results demonstrate the effectiveness and viability of the proposed algorithm.