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Multi-agent system cooperative control method capable of maintaining connectivity

A multi-agent system, collaborative control technology, applied in the field of intelligent robots, can solve problems such as inability to maintain connectivity

Active Publication Date: 2013-04-17
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology

[0007] In view of this, the present invention provides a multi-agent distributed cooperative control method based on an artificial potential energy function and having a connectivity maintenance function in order to solve the problem that connectivity cannot be maintained in the current multi-agent system coordination control method. It can take into account the maintenance of communication connectivity and the coordinated control of agent motion, so that the system can always maintain the connectivity of the communication topology and achieve the expected control goals during the evolution process

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  • Multi-agent system cooperative control method capable of maintaining connectivity
  • Multi-agent system cooperative control method capable of maintaining connectivity
  • Multi-agent system cooperative control method capable of maintaining connectivity

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Embodiment Construction

[0038] The present invention will be described in detail below with reference to the accompanying drawings and examples.

[0039] Stable swarm movement means that all agents asymptotically reach the same speed, the agents avoid collisions with each other, and the compact structure of the final system can minimize the potential energy of all agents. At this time, the system is called a stable swarm.

[0040] Consider a multi-agent system with N agents moving in n-dimensional Euclidean space, and the agent with double-integral dynamics has particle dynamics. A double-integral continuous-time model of the system is described as follows:

[0041] x · i = v i ( 1 )

[0042] m v · i = u i i ...

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Abstract

The invention provides a multi-agent system cooperative control method capable of maintaining connectivity. After the running of a multi-agent system is started, when detecting that the multi-agent system with an agent is divided into two or more mutually disconnected connected subsystems according to the conditions of mutual connection with other agents at any time t, the agent determines whether the connected subsystem with the agent is a piloting subsystem or an adjoint system according to a preset election strategy, and elects a leader of the connected subsystem by communicating with the other agents in the connected subsystem; the leader in the piloting subsystem is called a virtual leader, and the leader in the adjoint subsystem is called a supporter; long-range connection is established between the virtual leader and each supporter; and each agent determines values of sigmai(t) according to own roles, and is self-controlled in real time by adopting the expression of a control rate. By the method, the problem that the connectivity cannot be maintained by the conventional multi-agent system cooperative control methods is solved.

Description

technical field [0001] The invention relates to a multi-agent distributed cooperative control method based on an artificial potential energy function and maintaining connectivity, which belongs to the technical field of intelligent robots. Background technique [0002] In recent years, the distributed motion coordination control and application of multi-agent systems has received more and more attention, and has gradually become a focus of complexity science research. Among them, each agent only uses local information to interact, and combines the advantages of distributed resources with communication and other means to achieve overall planning and resolve local conflicts, so as to achieve the overall expected goal. As a comprehensive interdisciplinary subject, multi-agent system has broad application prospects and important theoretical research value in industrial and military application fields. [0003] In a multi-agent system, the agent uses a variety of sensors and act...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04L29/08
Inventor 方浩窦丽华曹虎陈杰刘华罡孙巍由佳贾睿李路孙腾王强
Owner BEIJING INSTITUTE OF TECHNOLOGYGY
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