Collaborative Patrol and Encirclement Control of UGVs and UAVs in Urban Environments
Xuejian Wang, Yangguang Yu, Jiarun Yan, Xiangke Wang · 2025
The problem of multi-agent encirclement has always been one of the main research directions in the field of artificial intelligence recently, which requires multi-agent system to cooperate and encircle one or more targets. However, most of the encirclement problems set the problem environment as an open space. This paper extends the application scenario to urban environments, where agents and targets can only move along specified roads. Multiple unmanned aerial vehicles (UAVs) are driven based on a concept of “fuzziness” for search, working together with multiple unmanned ground vehicles (UGVs) to capture multiple dynamic targets. A novel algorithms is developed by combining the A* algorithm, Adaptive Particle Swarm Optimization (APSO) algorithm to achieve the collaborative patrol and encirclement of UGVs and UAVs in urban environments. A simulation platform is built using Python to validate the feasibility and practicality of the proposed algorithms.