Loose cluster control method, device thereof, equipment, medium and product

Abstract

The invention provides a loose cluster control method and a device thereof, equipment, a medium and a product, and the method comprises the steps: obtaining the state of an intelligent agent in a cluster, a neighbor intelligent agent set in a local communication range of the intelligent agent, and the lowest concentration pheromone position of the intelligent agent in a local sensing range, the self state comprises a self position; determining a virtual force item of the agent through a virtual force function based on the position of the agent and the neighbor agent set; determining a pheromone concentration item of the intelligent agent based on the position of the intelligent agent and the position of the lowest concentration pheromone; and determining the control quantity of the intelligent agent according to the virtual force item and the pheromone concentration item. The optimal coverage of a cluster on a dynamic region and a target can be realized in a complex environment under the condition that cluster communication connection keeps constraint.

Description

technical field [0001] The invention relates to the field of unmanned swarms, in particular to a loose swarm control method, device, equipment, medium and product. Background technique [0002] Unmanned swarms form swarm behavior through mutual cooperation and coordination, which can complete complex tasks that individuals cannot achieve, and improve task completion, execution efficiency, and success probability. In recent years, cluster control methods have attracted great attention, mainly divided into flocking algorithms and anti-crowding algorithms. In terms of swarming algorithms, some people consider energy minimization and security, and propose the use of optimal control protocols to achieve cluster collaboration; some papers propose a distributed fast synchronous cluster control method based on communication topology changes, which can effectively improve the convergence speed of the algorithm; This paper proposes a double-integral swarm control method based on a di...

AI Technical Summary

Problems solved by technology

[0005] The present invention provides a loose cluster control method, device, equipment, medium and product, aiming at solving the limitation of cluster flexibility existing in the prior art, unable to guarantee the communication connection between clusters, or there are communication redundant connections, only considering the cluster The explicit interaction between them, while ignoring the implicit interaction with the environment, leading to problems such as poor cluster control effect

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