A loose cluster control method, device, equipment, medium and product

Abstract

The present invention provides a loose cluster control method, device, medium and product, wherein the method includes: obtaining the state of the agent in the cluster, the set of neighbor agents within the local communication range of the agent, and the The lowest concentration pheromone position of the agent within the local perception range, the self-state includes its own position; based on the self-position and the set of neighbor agents, determine the virtual power item of the agent through a virtual power function ; Based on the self position and the lowest concentration pheromone position, determine the pheromone concentration item of the agent; determine the control amount of the agent according to the virtual power item and the pheromone concentration item. It can realize the optimal coverage of clusters on dynamic areas and targets under the constraints of maintaining cluster communication connectivity in complex environments.

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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