Multi-agent formation transformation method based on binary tree topology and specific rules
A topology and multi-agent technology, applied in the direction of non-electric variable control, instruments, control/regulation systems, etc., can solve problems such as the method of formation transformation is not given, and achieve the effect of ensuring the measurement range constraint
Active Publication Date: 2021-10-19
BEIJING INSTITUTE OF TECHNOLOGYGY
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There are also literatures that only rely on sensor measurement information, but only design a single formation maintenance method, and do not give a specific formation transformation method
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[0073] In order to enable those skilled in the art to better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application.
[0074] Considering that underwater acoustic communication cannot transmit a large amount of information, and is easily affected by water quality, water temperature, water pressure and underwater noise, UUV can measure and process information through its own sensors to obtain useful information; therefore The invention designs a formation transformation method that only relies on sensor measurement, and the number of nodes can be expanded. The absolute position and velocity of the navigator are obtained by solving the measurement information of the sensor, and then the distributed control law of UUV is designed. Due to the limited measurement range of the sensor, the typ...
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The present invention provides a multi-agent formation transformation method based on a binary tree topology and specific rules. Based on the pilot-follow method, the absolute position and speed of the leader can be obtained by solving the measurement information of the intelligent agent's own sensor. And then design the distributed control law of agent; Simultaneously, the present invention applies binary tree topological structure to design the topological structure of feasible formation formation, comprises V type, herringbone, one font and cross shape, makes multi-agent arrangement sparse as far as possible At the same time, the measurement range constraint is guaranteed, and the direct transformation relationship between the four types of formations is designed according to the analysis of the topology structure, and the transformation rules are designed for the two types of formations that can be directly transformed, and the formation formation of the multi-agent transformation provides guidance; it can be seen that what the present invention provides is a formation transformation method that does not rely on communication conditions and only relies on sensor measurements, which is applicable to multi-agent groups of different scales, and is especially suitable for unmanned underwater vehicles (UUVs). ).
Description
technical field [0001] The invention belongs to the technical field of multi-agent formation control, in particular to a multi-agent formation transformation method based on a binary tree topology and specific rules. Background technique [0002] In actual situations, multi-agents rely on different formations to adapt to different environments and tasks, so it is of great significance and value to study formation transformation. The commonly used formations are V-shape, herringbone formation, column and cross formation. According to the survey, most of the research results mainly regard the formation transformation as a constraint condition, without specifying the transformation process. A few literatures discuss the realization of the transformation process, and the methods used include methods based on specific rules and path planning methods, etc., but These methods all rely on more ideal communication conditions. There are also literatures that only rely on sensor meas...
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IPC IPC(8): G05D1/06
CPCG05D1/0692
Inventor 辛斌张钧溪曲韵陈杰王晴杨庆凯曾宪琳
Owner BEIJING INSTITUTE OF TECHNOLOGYGY