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Constrained agent formation control method based on relative distance measurement

A technology of relative distance and control method, applied in the direction of non-electric variable control, two-dimensional position/channel control, control/regulation system, etc., can solve problems such as the need for a global coordinate system, and achieve saving software and hardware costs and strong practicability , Accurate and reliable effect of the control process

Active Publication Date: 2021-09-07
BEIHANG UNIV
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Problems solved by technology

[0008] In view of this, the present invention provides a constrained agent formation control method based on relative distance measurement, which effectively solves the problem that the existing formation control method can only achieve constant curvature constraints, requires a global coordinate system, and adjacent Problems that require communication between agents

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  • Constrained agent formation control method based on relative distance measurement
  • Constrained agent formation control method based on relative distance measurement
  • Constrained agent formation control method based on relative distance measurement

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Embodiment Construction

[0062] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, 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 creative work all belong to the protection scope of the present invention.

[0063] See attached figure 1 , the embodiment of the present invention discloses a constrained agent formation control method based on relative distance measurement, the method comprising:

[0064] S1: According to the preset formation geometry of multiple agents, construct a directed perception topology map, and determine the expected distance of each edge in the directed perception topology map and the expected area of ​​each signed triangular area.

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Abstract

The invention discloses a constrained agent formation control method based on relative distance measurement, and the method does not need any communication between agents in the formation control process, greatly saves the software and hardware cost, and does not need to know any global information for each agent, the method can complete an expected formation shape control task in a short time, has high robustness to an unknown environment, is based on a directed positioning perception topological graph, does not finally generate unexpected regular circular motion even if adjacent agents are inconsistent in measurement of distances, is more accurate and reliable in control process, the minimum turning radius problem, the sideslip problem and the like existing in practical application can be converted into the curvature constraint problem, and the practicability is higher.

Description

technical field [0001] The present invention relates to the technical field of multi-agent formation control, and more specifically relates to a constrained agent formation control method based on relative distance measurement. Background technique [0002] At present, the distributed coordinated control of multi-agents has received more and more attention due to its potential advantages such as higher flexibility, robustness, and adaptability to unknown environments in its application fields. Formation shape control is to control the movement of a group of agents to form the desired formation geometry, which is an important issue in the process of collaborative control. A basic problem of multi-agent formation control is to formulate a feasible trajectory for each agent to complete the task of formation control. [0003] In practical applications, when each agent moves in the actual environment, due to the limitations of software and hardware, the agent has limited maneuve...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0223G05D1/0257G05D1/0289
Inventor 王琦少赵垠翔安宁波王青云钱浩
Owner BEIHANG UNIV
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