ZigBee-based simulated multi-agent coordination controlling method

A multi-agent and control method technology, applied in the direction of location information-based services, two-dimensional position/channel control, non-electric variable control, etc., can solve problems such as low complexity and lack of multi-agent coordinated control methods

Pending Publication Date: 2017-02-22
JILIN UNIV
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  • Claims
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Problems solved by technology

At present, there is a shortage of multi-agent coordinated control methods with

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  • ZigBee-based simulated multi-agent coordination controlling method
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  • ZigBee-based simulated multi-agent coordination controlling method

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Embodiment Construction

[0055] The tasks described in the present invention are ( and N is an integer) the cars work together to search a certain area, taking this as an example to simulate a multi-agent to complete a larger task. For the convenience of description, the following description takes four cars as an example (that is, N is taken as 2), and the following steps are the same when N is the rest. The time for each car to complete its task is different by making each car assign different initial tasks or different search speeds. That is to simulate the difference in the task progress of each agent, so as to reflect the method of coordinated control.

[0056] The steps of the present invention are:

[0057] Step 1. Principle of multi-agent pre-grouping and collaboration: Yes Two agents cooperate together, where N is an integer, and the grouping adopts the method of dividing the total number by two and grouping step by step. Those who complete the tasks in the same level will help those w...

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Abstract

The invention discloses a ZigBee-based simulated multi-agent coordination controlling method, and belongs to the field of intelligent control. The ZigBee-based simulated multi-agent coordination controlling method has the purpose that multiple agents having same or similar functions jointly complete one relatively large task and achieve a mutual coordinated help function by coordinated control. The method comprises the steps of: pre-grouping and coordination principle of multiple agents, determination of an initial task, allocation of the initial task, construction of a communication network between a trolley and an upper computer, position determination of the trolley, instruction monitoring and execution, and obstacle judgment and avoidance of the trolley. The method can realize human-machine interaction, thus better meeting human requirements. The method realizes self positioning, autonomous navigation, obstacle avoidance control and the like, can reduce the use of modules, is economical and practical, and is suitable for being widely applied in life.

Description

technical field [0001] The invention belongs to the field of intelligent control. Background technique [0002] Intelligent bodies such as mobile sensors, autonomous mobile robots, unmanned vehicles and other artificial mechanical and electronic devices with motion, computing, perception and communication capabilities. These homogeneous or heterogeneous agents are assembled into a multi-agent system (Multi-Agent Systems, MAS). Multi-agent technology has autonomy, distribution, coordination, and has the ability of organization, learning and reasoning. MAS focuses on the mutual coordination between agents, and through certain algorithm control, they can jointly complete a more complex task and achieve the optimal result. At present, there is a shortage of multi-agent coordinated control methods with high efficiency, low power consumption, low complexity, and strong practicability. [0003] The ZigBee protocol is based on the 802.15.4 standard, which is the physical layer an...

Claims

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Application Information

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IPC IPC(8): G05D1/02H04W4/02
CPCH04W4/023G05D1/0255G05D1/0276G05D1/0287
Inventor 李寿涛杨蕊嘉田微杨铭徐靖淳张路玉
Owner JILIN UNIV
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