Multi-agent cluster control method inspired by physicochemistry

Abstract

The invention belongs to the technical field of multi-agent cluster control, and particularly discloses a multi-agent cluster control method inspired by physicochemistry, which comprises the steps offirstly, carrying out model abstraction; secondly, introducing a probability density distribution function of virtual electrons to construct a potential energy functional; then obtaining a cluster control law by solving a Lagrange equation of a non-isolated mass point system; and finally, introducing a dissipative structure theory to evaluate whether the cluster control law has the potential of controlling the initially disordered agent group to a stable ordered structure, if the control law meets three necessary conditions of the dissipative structure theory, performing stability and convergence analysis on the designed control law by adopting a similar Lyapunov method, and judging whether the intelligent agent group can form a stable time-progressive cluster or not. According to the method, the problem that a complex experience potential field needs to be constructed in the cluster control law design process of a traditional social force model is solved, and a complete theoretical basis is provided for cluster control stability and accessibility.

Description

technical field [0001] The invention belongs to the technical field of multi-agent cluster control, and particularly relates to a multi-agent cluster control method inspired by physical chemistry, specifically, how to control hundreds or thousands of intelligent body groups to move together to form a stable The geometric configuration, while ensuring that the speed of each agent tends to be consistent. Background technique [0002] Cluster is a kind of self-organization phenomenon ubiquitous in nature, such as bacteria, insects, fish, birds, beasts, and even inanimate active colloids and microscopic particles, in order to adapt to the living environment, after long-term evolution, emerge Highly coordinated collective behavior. In fact, similar large-scale cluster phenomena exist widely in both the macrocosm and the microcosm, and in both living and non-living bodies. These cluster phenomena all exhibit intelligent behaviors such as distribution, coordination, self-organiza...

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Problems solved by technology

[0011] In order to solve the problem that the traditional social force model needs to construct a complex empirical potential field in the design process of the swarm control law, and to provide a complete theoretical basis for the stability and accessibility of the swarm control, the present invention simulates the dispersion and Repulsion, which proposes a simple yet general method for distributed swarm control, providing a general theoretical framework for designing and analyzing multi-agent swarm control laws

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