A multi-agent distributed cooperative dynamic coverage method and system

Abstract

The invention discloses a multi-agent distributed cooperative dynamic coverage method and system. The method includes: updating the coverage pheromone map of the target agent at the last moment to obtain a local update pheromone map; judging whether the neighbor node set is empty; if not, receiving the message packet sent by the neighbor node set, and using the message packet to update The local updated pheromone map of the target agent at the current moment is obtained by fused update pheromone map; based on the target agent's current position, speed and fusion update pheromone map, the comprehensive control item at the current moment of the target agent is calculated; if so, based on The position, speed and local update pheromone graph of the target agent at the current moment are used to calculate the comprehensive control items of the target agent at the current moment; speed. The invention can realize rapid and complete coverage based on multi-agent cooperation under unknown environmental conditions.

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...

AI Technical Summary

Problems solved by technology

Since there may be unknown obstacles in the task area and the effective motion control of the agent must meet certain conditions, and it is necessary to save the communication and computing overhead of each agent as much as possible to prolong the life cycle of the multi-agent cooperative dynamic coverage system, resulting in an unstable environment. Fast and complete coverage of difficult problems based on multi-agent cooperation under deterministic conditions is more challenging

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