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Method and device for formation aiming at multiple intelligent agents

An intelligent body, relative position technology, applied in the direction of position/direction control, vehicle position/route/height control, non-electric variable control, etc., can solve problems such as formation disorder

Inactive Publication Date: 2016-04-06
CENT SOUTH UNIV
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Problems solved by technology

With the increase of switching times, the accumulation of tracking error is very likely to cause unexpected formation disorder

Method used

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  • Method and device for formation aiming at multiple intelligent agents
  • Method and device for formation aiming at multiple intelligent agents
  • Method and device for formation aiming at multiple intelligent agents

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Embodiment Construction

[0033] Specific embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings. It should be understood that the specific embodiments described here are only used to illustrate and explain the present invention, and are not intended to limit the present invention.

[0034] Before introducing the formation method for multiple agents provided by the present invention, first introduce the concepts, definitions and lemmas related to the present invention.

[0035] In formation research based on graph theory, undirected graphs are often used to represent multi-agent network topology. An undirected graph G=(v,ε) consists of a non-empty, finite set of nodes v={v 1 ,v 2 ,...v n} and edge sets Composed of nodes representing agents and edges representing undirected communication links between two agents. Let I={1,2,...,n} represent the label set of nodes in the graph, A=[a ij ] is the weight adjacency matrix in the undirected ...

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Abstract

The invention discloses a method and device for formation aiming at multiple intelligent agents, wherein the method comprises the steps that a corresponding virtual leader is configured for each of the multiple intelligent agents; and each intelligent agent is made to track the corresponding virtual leader in limited time according to preset control rules, so that a formation pattern of the multiple intelligent agents can be formed. The method disclosed by the invention configures the corresponding virtual leader for each intelligent agent, makes a speed and a position of each intelligent agent consistent with a speed and a position of the corresponding virtual leader in the limited time according to the preset control rules and tracks the corresponding virtual leader so as to form the formation pattern of the multiple intelligent agents, so that a certain relative position among the multiple intelligent agents can be ensured, and formation pattern disordering caused by tracking errors which are accumulated by multiple times of formation pattern conversion can be avoided.

Description

technical field [0001] The present invention relates to the field of formation of agents, in particular to a formation method and device for multiple agents. Background technique [0002] As far as multiple agents are concerned, if there is only one leader, each agent can only reach the same speed and distance as the leader, and the relative position between each agent is difficult to control. In addition, most of the current research work is based on Lyapunov's asymptotic stability theory, which determines that the time for multiple agent systems to reach stability is actually infinite. If you are only pursuing formation formation, the corresponding stability analysis is reasonable, and if you need to change the formation after a period of time, the tracking error of the previous period will be retained when switching to the next formation mode. With the increase of switching times, the accumulation of tracking error is very likely to cause unexpected formation disorder. ...

Claims

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Application Information

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IPC IPC(8): G05D1/00
CPCG05D1/00
Inventor 裘智峰叶华文李思明王晓东赵鑫涛暴悦爽阳春华桂卫华
Owner CENT SOUTH UNIV
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