Multi-agent formation planning method based on local visual field

A multi-agent, intelligent body technology, applied in two-dimensional position/channel control, non-electric variable control, instruments, etc.

Active Publication Date: 2021-04-27
ZHEJIANG UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

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Problems solved by technology

[0011] At present, there is no formation planning method that can solve the above problems at the sam

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  • Multi-agent formation planning method based on local visual field
  • Multi-agent formation planning method based on local visual field
  • Multi-agent formation planning method based on local visual field

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Embodiment Construction

[0119] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention, and the described embodiments are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

[0120] The present invention adopts a set of layered reinforcement learning structure to separate the influence of each sub-task on each other during training. Specifically, we split the overall task into two sub-strategies and a high-level strategy. The two sub-strategies are the path planning strategy and the formation maintenance strategy. The path planning strategy is only responsible for planning the collision-free trajectory from the multi-agent to...

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Abstract

The invention relates to a multi-agent formation planning method based on a local visual field. The method comprises the following steps: step S3, operating steps S4 and S5 for a first agent; S4, enabling the intelligent agent to perform local observation on the environment to obtain a local observation value; S5, inputting the local observation value obtained in the step S4 into the intelligent agent, and outputting the action of the current time step after the intelligent agent is calculated by a pre-trained high-level strategy reinforcement learning algorithm model; S6, operating the step S4 and the step S5 for the second to the Nth intelligent agents in sequence; and S7, repeating the steps S3 to S6 until the target task is completed. According to the multi-agent formation planning method based on the local visual field, the agents only depend on the surrounding limited observation space to make decisions, the defect that a centralized planning method must depend on global information is overcome, and the method can be used for conducting formation planning on the multiple agents on a large-size map.

Description

technical field [0001] The invention belongs to the field of multi-agents, and in particular relates to a multi-agent formation planning method based on a local vision. Background technique [0002] Multi-agents have been deployed in many real-world applications, including drone swarms, aircraft tugs, and warehouse robots. In many cases, it is important for an agent to find its way while avoiding obstacles while maintaining a specific formation. For example, when warehouse robots need to transport large goods together. However, current multi-agent path planning algorithms cannot simultaneously plan and maintain formation in this situation, because most of them do not consider the formation factor. [0003] At present, there are very few path planning algorithms that focus on solving the problem of multi-agent formation planning. Multi-agent formation planning, a variant of multi-agent path planning, consists of two key subtasks: planning multiple conflict-free paths while...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0217G05D1/0287G05D2201/0216
Inventor 刘勇刘善琪
Owner ZHEJIANG UNIV
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