Multi-agent distributed collaborative dynamic coverage method and system

Abstract

The invention discloses a multi-agent distributed collaborative dynamic coverage method and system. The method comprises the following steps: updating a coverage pheromone graph of a target intelligent agent at a previous moment to obtain a local updated pheromone graph; judging whether the neighbor node set is empty or not; if not, receiving a message packet sent by the neighbor node set, and updating the local updating pheromone graph of the target intelligent agent at the current moment by adopting the message packet to obtain a fused updating pheromone graph; calculating a comprehensive control item of the target intelligent agent at the current moment based on the position and speed of the target intelligent agent at the current moment and the fusion update pheromone graph; if yes, calculating a comprehensive control item of the target intelligent agent at the current moment based on the position and speed of the target intelligent agent at the current moment and the local updating pheromone graph; and calculating the position of the target intelligent agent at the next moment and the speed of the target intelligent agent at the next moment according to the comprehensive control item of the target intelligent agent at the current moment. According to the invention, rapid and complete coverage based on multi-agent cooperation under unknown environmental conditions can be realized.

Description

technical field [0001] The invention relates to the field of multi-agent cooperative coverage, in particular to a multi-agent distributed cooperative dynamic coverage method and system. Background technique [0002] Situational awareness technology based on multi-agents can be widely used in tasks such as search and rescue, regional reconnaissance and observation, firepower strikes, information collection, patrolling, terrain mapping, and situational monitoring of traffic arteries. Covering the mission area is the basis and prerequisite for performing the above tasks. Due to the limited coverage capability of a single agent, multiple agents are usually required to network and cooperate to perform coverage tasks. [0003] The multi-agent cooperative dynamic coverage system requires a single node to have the ability of autonomous perception, distributed information processing, decision-making and behavior, and efficient collaboration between multiple nodes to obtain effective...

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