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Formation control method of multi-agent system

A technology of a multi-agent system and control method, applied in the field of multi-agent formation, to achieve the effect of optimizing the total path and reducing energy consumption

Inactive Publication Date: 2020-02-21
UNIV OF ELECTRONICS SCI & TECH OF CHINA
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Problems solved by technology

However, multi-agents often need to build multiple flocks in the process of performing military tasks, and each flock can form a desired formation, but a class of algorithms based on flocking cannot solve this problem

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Embodiment Construction

[0060] The present invention will be further described below in conjunction with the accompanying drawings.

[0061] Such as figure 1 As shown, the present invention provides a kind of novel method of multi-agent system formation control, and it comprises the following steps (simulation of the present invention is finished in Matlab software):

[0062] (1) Set the desired formation formation for each flock using two-dimensional coordinates.

[0063] (2) Set an initial position for each agent using two-dimensional coordinates.

[0064] (3) Construct an optimization equation for each flock, and its objective function means: the target formation with the shortest distance to the initial position, and the target formation must satisfy the constraints of formation constraints, direction and size, and target area respectively.

[0065] (4) Construct the optimization equations of all flocks.

[0066] (5) RNN is used to solve the optimization equation, thereby constructing the diff...

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Abstract

According to the invention, the shape theory and the floating algorithm are combined for the study of the formation control problem of a multi-agent system. The Shape theory is a new method for defining the shape of a target formation, and provides a feasible formation set similar to the expected formation for a group of intelligent agents. How to select the formation with the minimum distance from the initial position of the multi-agent system from the set becomes the key to solve the problem. In this way, the formation control problem of the multi-agent system is converted into an optimization problem, and the optimization problem is solved through a recurrent neural network. The obtained position of the target formation has a special matching relationship with the intelligent agent, andthe matching relationship between the initial position of the intelligent agent and the target position is recalculated by using a Hungary algorithm under the condition of considering the constraintof battery energy, so the energy consumption is reduced, and the possibility of completing a task is greatly improved.

Description

technical field [0001] The invention is applicable to the field of multi-agent formations, and in particular relates to a method for controlling multi-agent formations. Background technique [0002] The application of multi-agent cooperative operation in environmental detection and perception, patrol search and rescue, and military mission execution is becoming more and more extensive. In recent years, with the development of multi-agent systems, this trend has also shown an exponential growth trend. [0003] Flocking algorithm is a kind of algorithm proposed in recent years to solve multi-agent cooperative operation. It mainly includes basic flocking algorithm, anti-flocking algorithm and semi-flocking algorithm. The basic flocking algorithm is an algorithm inspired by biological autonomous interaction behavior, in which each robot passes certain rules and maintains communication with neighbor robots to simulate the interactive behavior between organisms. The algorithm c...

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0287
Inventor 代小林何嘉诚宫大为孙旭红黄涨潮全洪涛马田田杨珺淇李晓宁周宏宽
Owner UNIV OF ELECTRONICS SCI & TECH OF CHINA
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