A dense formation control method based on visual measurement information

Abstract

The invention relates to a dense formation control method based on visual measurement information. The method first proposes the definition method of expected formation configuration based on the angle constraint, and gives the description method of the expected geometric relationship of each agent with respect to the adjacent agents under the expected formation configuration; then, on this basis, determines the formation The communication and measurement configuration required to control each agent is given, and the method of calculating the angle between each agent and its two adjacent agents based on the visual measurement information is given; finally, a method is designed to make the multi-agent A control method for the convergence of formations to a desired configuration. The formation control method of the present invention no longer depends on the self-position and relative position measurement information of each agent, and eliminates the influence of position information measurement deviation and formation control accuracy, so that the formation can use visual measurement information to achieve precise control of dense formations.

Description

technical field [0001] The invention belongs to the technical field of cooperative control of multi-agent systems, in particular to a dense formation control method based on visual measurement information. Background technique [0002] Formation based on geometric configuration constraints is a common way of multi-agent system coordination. For example, in nature, geese often fly in the shape of a "human", which not only realizes the effective leadership of the head goose to the whole geese, but also reduces the physical exertion of the old, weak, sick and disabled in the geese; An encirclement circle, which continuously reduces the encirclement radius to increase the probability of successful dolphin predation. Inspired by the natural phenomenon of these biological clusters in nature, in recent years, artificial intelligence such as drones, unmanned vehicles, and unmanned boats has widely adopted the form of formation coordination to increase the mission radius in applicat...

AI Technical Summary

Problems solved by technology

However, the inertial navigation system has cumulative deviations, and the longer the system works, the lower the position measurement accuracy is; GPS system measurement also has deviations, especially when there are obstacles in the formation task environment, each agent will not be able to accurately obtain the information due to the inability to receive GPS signals normally. own location information

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