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A self-organizing cooperation strategy for multiple unmanned surface vessels (USVs) to pursue intelligent evaders in the case of a dynamic obstacle vessel is proposed. Firstly, a self-organizing cooperative hunting strategy is proposed to form an Apollonius circle. According to the escape strategies of evaders under different encirclement states, the pursuers are divided into pursuit group and ambush group. The pursuit group drives the evaders into the ambush area and completes the encirclement together with the ambush group. In order to better deal with the dynamic obstacle ships encountered in the pursuit process in the dynamic ocean environment, the artificial potential field-based collision avoidance method for inter-USV and dynamic collision avoidance strategy for encountering obstacle ships based on International Regulations for Preventing Collisions at Sea (COLREGs) are proposed. The simulation results show that the algorithm can make the pursuers complete the encirclement of the evaders and has good obstacle avoidance performance and flexibility in the environment with dynamic obstacle ships.

Self-Organizing Cooperative Pursuit Strategy for Multi-USV with Dynamic Obstacle Ships