Restrained multi-agent formation method based on speed planning

A speed planning and multi-agent technology, applied in the field of robotics, can solve problems affecting system performance and achieve high security effects

Active Publication Date: 2018-11-27
NORTHWESTERN POLYTECHNICAL UNIV
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  • Application Information

AI Technical Summary

Problems solved by technology

There is no central host in this method. It is mainly based on the consistency theory. A communication topology network will be formed between multiple intelligent individuals. The network must be fully connected. The intelligent agents make decisions based on the information they collect. The advantage is that it has good robustness in the case of reliable communication and has no dependence on central modulation, but at the same time, the communication frequency and the number of communication connections between various agents greatly affect the performance of the system

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  • Restrained multi-agent formation method based on speed planning
  • Restrained multi-agent formation method based on speed planning
  • Restrained multi-agent formation method based on speed planning

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Embodiment Construction

[0042] Now in conjunction with embodiment, accompanying drawing, the present invention will be further described:

[0043] The object of the invention is to propose a centralized formation method based on speed planning for the constrained multi-agent system.

[0044] This formation method adopts the Leader-Follower method. The system consists of a central decision-making host, a single intelligent aircraft, and a weakly elastic lightweight rope net (10m*10m). The weakly elastic rope net is pulled by multiple intelligent aircraft. Due to the existence of the rope net, there are certain constraints on the multi-aircraft formation structure and structure transformation.

[0045] When flying in formation, the central host will generate a virtual leader, and other intelligent aircraft performing tasks will act as followers to track points in a given formation structure.

[0046] The specific steps of this formation control method include:

[0047] 1. According to the establishe...

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Abstract

The invention relates to a restrained multi-agent formation method based on speed planning. Not only is formation taken into account, but also the fact that restraints exist among agents is taken intoaccount. Normally, for an ordinary multi-agent system, distributed control is adopted, communication topology is built among multiple intelligent aircraft, and adopting consistency control for conducting formation control and overall maneuvering has certain advantages; however, a system has a low error-tolerant rate, restraints exist among the multiple intelligent aircraft, and error instructionsof single intelligent aircraft can cause breakdown or damage to the whole system, so that the formation control method is provided to guarantee the reliability.

Description

technical field [0001] The invention belongs to the field of robots and relates to a constrained multi-agent formation method based on speed planning. Background technique [0002] The problem of constrained multi-agent formation involves many fields. Due to the existence of constraints, the system often leads to a low fault tolerance rate. If the control is not proper, huge shocks or even collapse may occur during the system state switching process. Therefore, for each The precise control of an individual is particularly important. Velocity planning can make the trajectory of the individual very accurate, the dynamic process is short, and the overshoot is small. It is a good method to solve the problem of constrained multi-agent formation control. [0003] In recent years, the multi-agent cooperative formation problem has attracted more and more attention. At present, there are generally three solutions for the multi-agent formation problem: [0004] Behavior-based formati...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G05B13/04
CPCG05B13/042G05D1/104
Inventor 黄攀峰张校祯张帆孟中杰张夷斋刘正雄董刚奇
Owner NORTHWESTERN POLYTECHNICAL UNIV
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