Spatio-temporal Alternating Layered Cooperative Containment Control with Pitch Guidance for Off-road Legged Robot Swarm

Jiaoting LI; Yueming WANG; Mingyue ZHU; Tong YAN; Wei XU; Bo SU; Peng XU

doi:10.12382/bgxb.2025.0935

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Spatio-temporal Alternating Layered Cooperative Containment Control with Pitch Guidance for Off-road Legged Robot Swarm

更新时间：2026-02-10

- Spatio-temporal Alternating Layered Cooperative Containment Control with Pitch Guidance for Off-road Legged Robot Swarm
- Acta Armamentarii Vol. 46, Issue S2, Pages: 250935(2025)
- 作者机构：
  
  1. 中兵智能创新研究院有限公司, 北京 100072
  2. 群体协同与自主实验室, 北京 100072
  3. 中国北方车辆研究所无人中心, 北京 100072
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0935
  CLC：
- Received：21 October 2025，
  
  Online First：03 February 2026，
  
  Published：2025
- 稿件说明：
移动端阅览
Jiaoting LI, Yueming WANG, Mingyue ZHU, et al. Spatio-temporal Alternating Layered Cooperative Containment Control with Pitch Guidance for Off-road Legged Robot Swarm[J]. Acta Armamentarii, 2025, 46(S2): 250935.
DOI：

Jiaoting LI, Yueming WANG, Mingyue ZHU, et al. Spatio-temporal Alternating Layered Cooperative Containment Control with Pitch Guidance for Off-road Legged Robot Swarm[J]. Acta Armamentarii, 2025, 46(S2): 250935. DOI： 10.12382/bgxb.2025.0935.

摘要

针对足式越野机器人在高原复杂动态环境下通信受限、视觉遮挡导致的集群协同合围控制难题

提出一种融合生物群体行为特征的协同控制策略。该策略借鉴生物音高感知与时空交替运动机制

构建生物特征引导的时空交替分层控制框架

并设计基于音高特征的通信方法以增强个体辨识与集群协调。通过仿真与实物实验验证表明:当机器人规模达60台时形成临界规模效应

围捕成功率从56.3%跃升至77.7%;目标运动模式对围捕效能影响显著

圆周运动成功率较直线模式降低40.1%;速度比为7时围捕成功率可达71%

围捕时间缩短82.7%。高原实物验证中仍能实现有效合围。通过研究量化关键参数对围捕效能的影响规律

明确了群体规模阈值、运动模式敏感区间与速度比等最优值

为足式机器人集群在动态复杂环境中的高效合围控制提供了兼具理论依据与工程指导的解决方案。

Abstract

The off-road legged robots encounter the limited communication and visual occlusion in complex and dynamic plateau environments

thereby leading to the challenge of swarm containment control.This paper proposes a cooperative control strategy incorporating the behavioral characteristics of biological swarm.A bio-feature-guided spatio-temporal alternating layered cooperative control framework is constructed by drawing on the biological pitch perception and the spatio-temporal alternating motion mechanisms

and a pitch feature-based communication method is designed to enhance individual identification and swarm coordination.Simulations and physical experiments demonstrate that a critical scale effect emerges when the robot swarm size reaches 60 units

increasing the containment success rate from 56.3% to 77.7%.Target motion pattern has significant effect on the containment effectiveness

with the circular motion reducing the containment success rate by 40.1% compared to linear motion.At a speed ratio of 7

the success rate reaches 71%

with the containment time being shortened by 82.7%.Field validation on plateau confirms the effective containment under real-world constraints.The swarm size threshold

motion pattern sensitivity range

and optimal speed ratio are determined by quantifying the influence of key parameters on containment efficacy

providing a solution with both theoretical foundation and engineering guidance for efficient swarm containment control of legged robots in dynamic and complex environments.

关键词

Keywords

references

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