Looking for breakthrough ideas for innovation challenges? Try Patsnap Eureka!

Multi-agent system motion control method based on improved physicomimetics

A technology of mimic physics and motion control, applied in non-electric variable control, two-dimensional position/channel control, position/direction control and other directions, it can solve problems such as boundary oscillation, and achieve the effect of increasing speed and consistent force

Active Publication Date: 2019-09-24
NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
View PDF9 Cites 8 Cited by
  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] The purpose of the present invention is to provide a multi-agent system motion control method based on the improved mimic physics method, which can realize the aggregation movement, speed consistency and grouping movement of the multi-intelligence system, solve the boundary oscillation problem of the classic SAC algorithm and realize multi-objective Swarm movement of multi-agent systems in environments

Method used

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
View more

Image

Smart Image Click on the blue labels to locate them in the text.
Viewing Examples
Smart Image
  • Multi-agent system motion control method based on improved physicomimetics
  • Multi-agent system motion control method based on improved physicomimetics
  • Multi-agent system motion control method based on improved physicomimetics

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0027] The technical solution of the present invention is described in detail in combination with the accompanying drawings.

[0028] Such as figure 1 As shown, a kind of multi-agent system motion control method based on improved mimic physics method of the present invention, specifically comprises the following steps:

[0029] Step 1: Abstract each agent as a particle, and establish a second-order motion model of a single agent. The specific process is:

[0030] Establish a Cartesian coordinate system for the environment where the agent is located, such as figure 2 As shown in , the circle in the figure represents the agent, the triangle represents the target, and the velocity vector is represented by the arrow. Agent i at position p in the environment i =(x i ,y i ), at a speed of The location of the target is A single agent is abstracted as a particle, and its motion model is:

[0031]

[0032] In the formula, p i is the agent i The position vector of v i...

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

PUM

No PUM Login to View More

Abstract

The invention discloses a multi-agent system motion control method based on improved physicomimetics, and relates to the field of multi-agent coordinated motion control. The method comprises the steps of: firstly establishing a motion model of a single agent, and describing the motion rules of the multiple agents by using a method of physicomimetic force; then, combineing the physicomimetics with classic cohesion, separation and speed consistency rules, and calculating a cohesion coefficient and a speed consistency coefficient by using the distance and the relative velocity speed; then, improving the effects of various items of the physicomimetics by attention parameter adjustment so that the agent selectively follow other agents or targets; finally, adjusting the motion of the agents through the improved physicomimetics so as to realize the cohesion motion, the speed consistency, and the group motion of the multi-agent system under a multi-objective environment. The method mainly solves the boundary oscillation of the classic multi-agent system motion control algorithm during the cohesion motion and the group motion problem of the multi-agent system in the multi-objective environment.

Description

technical field [0001] The invention belongs to the field of multi-agent system motion control, in particular an autonomous grouping method considering multiple target environments. Background technique [0002] Multi-agent systems (MAS) are self-organizing group systems composed of a large number of simple autonomous individuals. Although the intelligence level of the basic units of MAS is very low, the overall level of intelligence is high, and it can complete search, For complex tasks such as investigation and rescue, multi-agent system motion control is the basis for the application of multi-agent systems, that is, to achieve group gathering movement, consistent speed and group movement through self-organization. [0003] The current multi-agent motion control algorithm is mainly aimed at the aggregation motion and speed consistency, and a large number of distributed cluster motion control algorithms have emerged based on the SAC principle, such as the Three-Circle metho...

Claims

the structure of the environmentally friendly knitted fabric provided by the present invention; figure 2 Flow chart of the yarn wrapping machine for environmentally friendly knitted fabrics and storage devices; image 3 Is the parameter map of the yarn covering machine
Login to View More

Application Information

Patent Timeline
no application Login to View More
IPC IPC(8): G05D1/02G05D1/00
CPCG05D1/0291G05D1/0088
Inventor 丁勇高振龙何金
Owner NANJING UNIV OF AERONAUTICS & ASTRONAUTICS
Who we serve
  • R&D Engineer
  • R&D Manager
  • IP Professional
Why Patsnap Eureka
  • Industry Leading Data Capabilities
  • Powerful AI technology
  • Patent DNA Extraction
Social media
Patsnap Eureka Blog
Learn More
PatSnap group products

Browse by: Latest US Patents, China's latest patents, Technical Efficacy Thesaurus, Application Domain, Technology Topic, Popular Technical Reports.

© 2024 PatSnap. All rights reserved.Legal|Privacy policy|Modern Slavery Act Transparency Statement|Sitemap|About US| Contact US: help@patsnap.com