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A multi-agent formation control method and system

A technology of a multi-agent system and control method, which is applied in control/regulation systems, transmission systems, position/direction control, etc., can solve problems such as low practicability, achieve high practicability, reduce traffic, reduce communication congestion and The effect of the risk of packet loss

Active Publication Date: 2020-06-12
BEIHANG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a multi-agent formation control method and system to solve the problem of low practicability of the existing consistent formation control method

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  • A multi-agent formation control method and system
  • A multi-agent formation control method and system
  • A multi-agent formation control method and system

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Embodiment Construction

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0051] The purpose of the present invention is to provide a multi-agent formation control method and system, which can reduce the communication traffic of the actual system, reduce the risk of communication blocking and packet loss, and improve the practicality.

[0052] In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention will be further described in detail below in conjunction with the...

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Abstract

The invention discloses a multi-agent formation control method and system. The control method comprises the steps of acquiring multiple agents and using one agent as a communication node; building a communication topological relation according to the communication node; determining an event triggering protocol according to the communication topological relation; determining neighbor state information of a communication node adjacent to the current communication node according to the event triggering protocol, wherein the neighbor state information comprises position and speed; acquiring the first state information of the current communication node; determining the control input quantity of the current communication node according to the first state information and the neighbor state information; and implementing the formation of the multiple agents according to the control input quantity. By using the control method and system provided by the invention, the communication quantity of the actual system can be reduced, the risks of communication blockage and packet loss are reduced, and the practicability is improved.

Description

technical field [0001] The invention relates to the field of multi-agent formation control, in particular to a multi-agent formation control method and system. Background technique [0002] Multi-agent formation control is a hot issue in the current multi-agent system research, which means that a team composed of multiple agents maintains a predetermined geometric shape with each other in the process of moving to a specific goal or direction. Multi-agent formation control has a wide range of applications in various fields such as military, aerospace, and industry, such as the formation control of mobile robots, unmanned aerial vehicles, submarines, satellites, and aerospace vehicles. In the military field, a reasonable formation of multiple mobile robots can replace soldiers to perform military tasks such as reconnaissance, search, mine clearance, and patrol in harsh and dangerous environments. Taking the reconnaissance task as an example, the ability of a single robot to o...

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): H04B7/185H04W84/06G05D1/00
CPCG05D1/0027H04B7/18506H04W84/06
Inventor 任章李晓多董希旺李清东
Owner BEIHANG UNIV