Unmanned system-oriented starling-group-type intelligent group dynamic network topology construction method

A dynamic network and construction method technology, applied in general control systems, control/regulation systems, instruments, etc., can solve the problems of high requirements for network connectivity and information dissemination performance, and achieve the effect of low communication costs

Active Publication Date: 2019-12-20
WUHAN UNIV
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Compared with the centralized control method, the distributed control method has better robustness and flexibi

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  • Unmanned system-oriented starling-group-type intelligent group dynamic network topology construction method
  • Unmanned system-oriented starling-group-type intelligent group dynamic network topology construction method
  • Unmanned system-oriented starling-group-type intelligent group dynamic network topology construction method

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Embodiment Construction

[0042] The technical solutions of the present invention will be specifically described below in conjunction with the accompanying drawings and embodiments.

[0043] The technical solution of the present invention proposes to map the current biological findings to the cooperative function of the agent: biologists have carried out long-lasting and in-depth research on the behavior of biological clusters, especially densely condensed groups, such as sardine swarms and locust swarms And the large-scale and orderly activities of creatures such as starling flocks. Scientists are still unable to explain how the large number of sardines move in unison. Observation experiments on 20,000 locusts in a laboratory at Oxford University found that when locusts gather, they cannibalize to form swarms. Although the natural causes of starling flocks have not been fully explained scientifically, the latest PNAS research results [Ballerini et al.2008; Cavagna et al., 2010] show that the flocking...

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Abstract

The invention provides an unmanned system-oriented starling-group-type intelligent group dynamic network topology construction method. Network topology construction is carried out to realize agent group cooperation, and initialization of an agent group and corresponding parameters is included; a network status transition mechanism is set, corresponding network state operation is judged and executed for a current frame according to physical locations of the agent group and obstacles, a labeled small-world network is constructed if no obstacle exists, a 6-neighbor network is constructed if the group is about to approach an obstacle influence area, and network topology splitting is carried out if the group is located in the obstacle influence area; and next moment speed and location updatingof each agent in the agent group is carried out until the agent group reaches a destination or a maximum iteration number is reached. Agent group system synchronization capability of the method can behigher than that of traditional regular networks, random networks and the like, and the method has scalability and stability, and can have a very broad application prospect in the aspect of unmannedsystems.

Description

technical field [0001] The invention belongs to the technical field of artificial intelligence swarm intelligence application, and in particular relates to a method for constructing a dynamic network topology of starling swarms for unmanned systems. Background technique [0002] Unmanned system is a hot topic that countries around the world are competing to study, and its technology is developing in the direction of clustering, autonomy, and intelligence. Unmanned systems, taking UAVs as an example, such as UAV autonomous flight control, UAV swarm dense formation, UAV swarm confrontation and other applications, often require a certain scale of air agents (such as sensors, aircraft , robots, etc.) in order to complete precise flight missions in close cooperation. Information interaction between agents plays a very important role in how to maximize the effect of teamwork in agent group collaboration. Without information interaction, the agent will become an isolated individu...

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Application Information

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IPC IPC(8): G05B13/04
CPCG05B13/042
Inventor 谢榕
Owner WUHAN UNIV
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