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Positioning and surrounding control method for multi-agent system in three-dimensional space

A multi-agent system, three-dimensional space technology, applied in the direction of adaptive control, general control system, control/regulation system, etc., to achieve the effect of wide application prospects

Active Publication Date: 2017-03-15
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

In addition, most of the existing results study the surround problem of a single agent or the surround problem of a special structure
However, it is more meaningful to study the surrounding of multiple agents, because multi-agent cooperation can achieve tasks that cannot be achieved by a single agent.

Method used

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  • Positioning and surrounding control method for multi-agent system in three-dimensional space
  • Positioning and surrounding control method for multi-agent system in three-dimensional space
  • Positioning and surrounding control method for multi-agent system in three-dimensional space

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Embodiment

[0050] For the convenience of description, the relevant technical terms appearing in the specific implementation are explained first:

[0051] The invention establishes the positioning and surrounding control scheme of the intelligent body system for the unknown target which can only know the orientation information in the three-dimensional environment. The present invention establishes three surround algorithms, the first algorithm is realized with communication, and the other two are realized without communication.

[0052] Among them, the first algorithm assumes that the orientation information can be shared among neighbor individuals, and the algorithm can be used to realize the agent system surrounding the target in different orbits. The second algorithm does not require communication between agents, but requires each agent to be able to obtain the azimuth angle of other agents. This algorithm can realize that the agent system surrounds the target in the same orbit. With ...

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Abstract

The invention discloses a positioning and surrounding control method for a multi-agent system in a three-dimensional space. The positioning and surrounding control method comprises the steps of firstly building an estimator for an unknown target, and performing positioning on the unknown location of the target by being combined with plane convergence of the estimator; and then designing a distributed controller and a coordinator, building three kinds of surrounding algorithms by being combined with a circumstance of communication among multiple agents and a circumstance of no communication among the multiple agents, and realizing different types of surrounding of the agent system for the unknown target.

Description

technical field [0001] The invention belongs to the technical field of intelligent body control, and more specifically relates to a method for positioning and surrounding control of a multi-agent system in three-dimensional space. Background technique [0002] The positioning and surrounding (surrounding) of the multi-agent system refers to the design of the control protocol through the detection of the target and the information interaction between the individual agents, so that the multi-agent system approaches the target and surrounds the target according to the predetermined encircling structure. Distributed encirclement control has an important application background in the engineering field, including: using robots to detect problems; joint rescue or protection problems; resource positioning problems; monitoring and early warning work in complex and dangerous environments, etc. [0003] In the early encirclement control algorithms of multi-agent systems, it is usually ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B13/04
CPCG05B13/048
Inventor 史莹晶李瑞鲍一民
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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