针对目前多机器人协作围捕过程中收敛速度慢、稳定性差、定位精度低的问题,提出一种新的围捕策略.设计出Cross-EKF定位算法,对目标位置的后验估计协方差进行交叉计算,以取得最小协方差区域.以区域边缘点到均值中心最大距离为半径,构建收敛圆,将对动态点的收敛扩展为对动态面的收敛.实验结果表明,系统能快速平稳地收敛该圆,从而实现对目标的精确围捕,该方法具有较高的实用价值. Aiming at the problems of slow convergence speed, poor stability and low positioning accuracy in the multi-robot cooperative capture process, a new tracking strategy is proposed.The cross-EKF positioning algorithm is designed to cross-calculate the posteriori estimation covariance of the target position, To obtain the minimum covariance region.With the maximum distance from the edge of the region to the center of the mean radius as the radius, the convergence circle is constructed and the convergence of the dynamic point is extended to the convergence of the dynamic plane. Experimental results show that the system can quickly and smoothly converge the circle, In order to achieve the target of precise capture, the method has a high practical value.