Method for relative distance control and adaptive correction between multiple agents

Abstract

The invention discloses a method for relative distance control and adaptive correction between multiple agents. According to the method, the control of the relative distance between multiple agents can be ensured, the collision between multiple agents is avoided, and the system has high adaptation and robustness by using ESO. Further, a lateral correction algorithm based on adaptive detection point configuration is designed. The timeliness of the entire system can be improved by adaptively and dynamically setting segmentation detection points, and judging and adaptively adjusting the number ofdetection points in remaining routes according to a set threshold value. The consistency of the entire multi-agent system is ensured by correcting the distance of the offset trajectory at each detection point to make the followers of the entire multi-agent system to accurately follow the leader. The algorithm does not require complex communication protocols and higher real-time information processing capabilities.

Description

technical field [0001] The invention relates to the field of multi-agents, studies the problem of relative distance control among multi-agents, and specifically proposes a relative distance control and self-adaptive correction method applied to multi-agents. Background technique [0002] With the development of artificial intelligence, communication and information technology, the research of multi-agent has been a research hotspot that many people pay attention to in recent years. Multi-agent systems can be widely used in public facilities detection, disaster environment investigation, military reconnaissance, storage and handling and other fields, both in military and civilian applications. In the actual application process, the control of the relative distance between the multi-agents is often very important. The relative distance control between the multi-agents often refers to the relative distance control between the follower and the leader. The leader can be a certain...

AI Technical Summary

Problems solved by technology

Another problem is that due to the deflection of the route and external interference, the control of the relative distance can only ensure the distance between the multi-agents, and cannot completely ensure that the follower follows the leader's route, which requires timely correction of the offset distance

In the traditional relative distance control, in the face of multi-agent cooperative processing interference, simple PID control is difficult to meet the control requirements of the system, and multi-agents often require very complex communication protocols and high real-time information processing ability

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