This　work　proposes　an　online　collaborative　hunting　strategy　for　multi-robot　systems　based　on　obstacle-avoiding　Voronoi　cells　in　a　complex　dynamic　environment.　This　involves　firstly　designing　the　construction　method　using　a　support　vector　machine　(SVM)　based　on　the　definition　of　buffered　V　oronoi　cells　(Bv＇Cs),　Based　on　the　safe　collision-free　region　of　the　robots,　the　boundary　weights　between　the　robots　and　the　obstacles　are　dynamically　updated　such　that　the　robots　are　tangent　to　the　buffered　Voronoi　safety　areas　without　intersecting　with　the　obstacles.　Then,　the　robots　are　controlled　to　move　within　their　own　buffered　Voronoi　safety　area　to　achieve　collision-avoidance　with　other　robots　and　obstacles.　The　next　step　involves　proposing　a　hunting　method　that　optimizes　collaboration　between　the　pursuers　and　evaders.　Some　hunting　points　are　generated　and　distributed　evenly　around　a　circle.　Next,　the　pursuers　are　assigned　to　match　the　optimal　points　based　on　the　Hungarian　algorithm.　Then,　a　hunting　controller　is　designed　to　improve　the　containment　capability　and　minimize　containment　time　based　on　collision　risk.　Finally,　simulation　results　have　demonstrated　that　the　proposed　cooperative　hunting　method　is　more　competitive　in　terms　of　time　and　travel　distance.　©　2014　Chinese　Association　of　Automation.