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Multi-agent cluster control method based on double-layer network

A multi-agent, double-layer network technology, applied in two-dimensional position/channel control, non-electric variable control, control/regulation system, etc., can solve problems such as slow response speed of human input

Active Publication Date: 2019-11-12
BEIJING INSTITUTE OF TECHNOLOGYGY
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, there are two main problems with this method: first, the operator only directly controls the leader, and the other followers move due to the physical state deviation with the neighbors. When the physical state (such as speed) of the neighbor changes, the follower Only then will it respond, which causes the problem that the system responds slowly to human input
But in this method, the agent on the slave side still adopts the traditional leader-follower model, and still has the above inevitable response problems

Method used

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  • Multi-agent cluster control method based on double-layer network
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Experimental program
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Embodiment 1

[0076] see figure 1 , which is a flowchart of a multi-agent cluster control method based on a two-layer network provided in this embodiment. A multi-agent cluster control method based on a double-layer network is applied to a multi-agent system, the multi-agent system includes a plurality of agents, and the number of agents is represented by N, such as figure 2 Shown is a schematic diagram of the layered structure of the two-layer network.

[0077] The method comprises the steps of:

[0078] S1: Randomly select an agent as the leader, and the remaining agents as followers, and the followers can communicate with the leader through themselves or multiple other agents;

[0079] It should be noted that, in this embodiment, a multi-agent system composed of N agents, such as robots, is considered to move on a two-dimensional plane, and its dynamic model is considered to be a second-order model, namely

[0080]

[0081]

[0082] Among them, q represents the position of the ...

Embodiment 2

[0122] Using the upper layer network based on the P estimator in the above embodiments can quickly realize multi-agent cluster control. However, in order to better track the input signal, this embodiment adds an integral term for previous errors on the basis of the upper network based on the P estimator, that is, constructs the upper network based on the PI estimator.

[0123] see image 3 , which is a flowchart of another multi-agent cluster control method based on a two-layer network provided in this embodiment. A multi-agent cluster control method based on a double-layer network is applied to a multi-agent system, the multi-agent system includes a plurality of agents, and the number of agents is represented by N, and the method comprises the following steps:

[0124] S1: Randomly select an agent as the leader, and the remaining agents as followers, and the followers can communicate with the leader through themselves or multiple other agents;

[0125] S2: Take each agent a...

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Abstract

The invention provides a multi-agent cluster control method based on a double-layer network. The double-layer network is designed, the expected speeds of intelligent agents are estimated through an upper layer network in a distributed manner, the input of an operator can feed forward of operation intention of the operator through the upper layer network, and the estimation process of the expectedspeed of each intelligent agent is influenced; then, the respective expected speed is transmitted, the respective actual speed and the actual movement direction are rapidly calculated through a lowerlayer network, the speed of each intelligent agent is consistent, the distance is kept, and movement is carried out along with the input of a person; it can be seen that the movement trend of a cluster can be earlier realized by each intelligent agent, the control intention of the person is transmitted to the whole multi-agent system more quickly, the response of the multi-agent system to the input can be improved, the operation efficiency of the operator is guaranteed, the energy loss of the operator is reduced, the man-machine proportion of the multi-agent system is reduced, and therefore the labor cost of the task is reduced.

Description

technical field [0001] The invention belongs to the technical field of multi-agent control, and in particular relates to a multi-agent cluster control method based on a double-layer network. Background technique [0002] Intelligent transportation, multi-mode energy, logistics and warehousing, multi-manipulator manufacturing, and information-based battlefields can all be regarded as typical applications of distributed multi-agent systems. Coordinated control has become a solution due to its high efficiency, robustness, and economy. An effective approach to the above problems. With the development of robot technology, although the robot itself has a certain degree of autonomy, the intelligent body still has limitations in perception, communication, movement, and planning. Therefore, in actual production, operators still need to monitor and intervene in their behavior. The multi-agent system under human intervention contains many problems such as the need for a large amount ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0295
Inventor 方浩刘得明陈杰商成思杨庆凯曾宪琳
Owner BEIJING INSTITUTE OF TECHNOLOGYGY