Collaborative control and target tracking method based on mobile multi-agent formation

A multi-agent, target tracking technology, applied in the field of computer and multi-sensor target tracking, can solve the problem of lack of formation tracking of moving targets, and achieve the effect of improving tracking stability, forming fast, and maintaining stable formation.

Inactive Publication Date: 2019-05-17
HANGZHOU DIANZI UNIV
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Problems solved by technology

At present, a single multi-sensor control algorithm and a single target tracking algorithm have been studied in depth, but the research on the formation tracking of moving targets using multi-agent control is still relatively lacking.

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  • Collaborative control and target tracking method based on mobile multi-agent formation
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  • Collaborative control and target tracking method based on mobile multi-agent formation

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Embodiment Construction

[0049] The present invention will be further described below in conjunction with accompanying drawing.

[0050] A cooperative control and target tracking method based on mobile multi-agent formation, including the following steps:

[0051] Step (1). Estimate the target state according to the data returned by the observer:

[0052] Step (1-1). Establish the target state equation, observation equation and clutter equation in sequence:

[0053] Equation of state: x k =Ax k-1 +μ k (1);

[0054] Observation equation:

[0055] Clutter equation:

[0056] Among them, A is the state transition matrix, z k is the observed value of the target state, is the clutter measurement, φ is the empty set, H is the state observation matrix, μ k ,υ kis the Gaussian noise of state noise and observation noise, both satisfying zero-mean and covariance Q and R, namely μ k ~N(0,Q k ), υ k ~N(0,R k );

[0057] The observation system equation and the observation noise are affected by ...

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Abstract

The invention relates to a collaborative control and target tracking method based on mobile multi-agent formation. The research that a moving object is tracked in a formation mode by using multi-agentcontrol at present lacks. According to the collaborative control and target tracking method, a target motion state is estimated and calculated by using a Kalman algorithm, and thus an estimated trajectory of target motion is obtained; then a consistency algorithm is adopted, and a multi-agent system is controlled to form the formation; and finally, the target estimated trajectory is tracked through a sensor control method. According to the collaborative control and target tracking method based on the mobile multi-agent formation, a Kalman filter under a gaussian noise environment is selectedto estimate target motion, processes of sensor controlling and target tracking are experimented through a consistency theory, combination of a sensor controlling problem and a target tracking problemis deepened in a traditional algorithm, and tracking stability is greatly improved.

Description

technical field [0001] The invention belongs to the field of computer technology, in particular to the field of multi-sensor target tracking, and relates to a cooperative control and target tracking method based on mobile multi-agent formation. Background technique [0002] In today's technological development and social services, due to the increase in the complexity of performing tasks, a single agent can no longer complete more and more complex task requirements, and it is necessary to cooperate with multiple agents to complete the task. The multi-agent coordinated control system has attracted widespread attention because of its distributed perception and execution capabilities, overall coordination and parallel capabilities, and strong robustness and fault tolerance. At present, the control methods for multi-agent systems mainly include behavior-based method, artificial potential field method, leader-follower method and virtual structure method, among which the leader-fo...

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10G06T7/277
Inventor 刘伟峰邢家瑞孔明鑫张桂林
Owner HANGZHOU DIANZI UNIV
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