Intelligent group formation movement control method based on fuzzy logic

A technology of fuzzy logic 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 control failure, increased energy consumption, and imperfect optimization measures, and achieve reduction Disturbance fluctuations, speed tends to be stable, and the effect of reducing invalid motion

Pending Publication Date: 2021-12-07
XIAN UNIV OF POSTS & TELECOMM
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0009] Although the existing intelligent agent formation movement control technology has made considerable progress, the autonomy, fault tolerance, flexibility, scalability and collaboration capabilities of the agent have not been fully utilized and effectively developed, and its control is difficult to adapt to the changing environment. Environmental scenarios, it is also difficult to promote and expand other control functions of swarm agents
The limitations of its control technology make the control effect difficult to be good and stable
The current group mobility control mainly has the following problems: 1. Poor autonomy: Because the control method is not fully distributed, individual functions are restricted, and they cannot autonomously adapt to the surrounding environment to adjust and change the state, requiring unified scheduling; 2. Poor fault tolerance: Due to individual differences, the failure of individuals will affect the overall control effect, or make the control invalid; 3. Poor flexibility and scalability: due to incomplete distributed control, changes in the environment or new individuals join, will cause early-stage The control function is completely invalid and needs to be re-deployed; 4. Poor collaboration ability: due to incomplete distribution, individual autonomy is restricted, and its ability to cooperate with each other is difficult to carry out effectively; 5. Poor adaptability: due to its li

Method used

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  • Intelligent group formation movement control method based on fuzzy logic
  • Intelligent group formation movement control method based on fuzzy logic
  • Intelligent group formation movement control method based on fuzzy logic

Examples

Experimental program
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Embodiment 1

[0042] The multi-agent system is composed of a series of interacting agents. The agents in the region communicate, cooperate and compete with each other to complete a large number of complex tasks with mutual cooperation that cannot be completed by a single agent. Task. In the military, agricultural, and civilian fields, multiple agents cooperate with each other. On the one hand, they can complete tasks of increasing complexity. Higher, better stability and robustness, thereby reducing the performance requirements for a single robot. There are also more diverse approaches to problem solving. At present, the existing agent formation movement control technology mainly has the following problems: 1. With the increase of the number of individuals in the group, the force of each agent fluctuates greatly, and the movement efficiency is not high due to the problem of group motion oscillation. 2. During the movement of the formation, due to the change of the potential field force, t...

Embodiment 2

[0061] The mobile control method of intelligent group formation based on fuzzy logic is the same as example 1, the formation of the described construction intelligent group of step 2, formation of the present invention includes following different formations:

[0062] 2.1 Circular formation: see Figure 2(a), the reference point O is the center of the circle, the formation parameter r is the radius of the circle, r is related to the number of agents n and the expected distance R between agents d The relationship is: Indicates the defined value; the size of the circular formation force is d is the distance from the agent to the reference point O. When d

[0063] In the straight formation, triangle formation and rhombus formation, the reference point O is located in the center of the formation, and the connection between the agent A participating in ...

Embodiment 3

[0071] The intelligent group formation movement control method based on fuzzy logic is the same as example 1-2, the potential field force optimization described in step 4, the present invention includes efficiency optimization and stability optimization to the optimization of potential field force, including the following steps:

[0072] 4.1 Efficiency optimization: The efficiency optimization of the potential field force in the present invention is also called the dissipation force optimization of the potential field force, and each agent is subject to the gravitational force F of the reference point in the area a and formation force F f The role of and the repulsive force F between agents r , the resultant force F on the current agent is the potential field force, F=F a +F r +F f , assuming that the current movement direction of the agent is v, the resulting force is F, and the angle between v and F is θ, after decomposing the resultant force through the potential field f...

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Abstract

The invention discloses an intelligent group formation movement control method based on fuzzy logic, and solves the technical problems of group movement oscillation, poorer stability and low control efficiency of multi-agent formation. The overall scheme is that the method comprises the steps of generating and gathering intelligent groups; constructing the formation of the intelligent group; carrying out orthogonal decomposition on the stress of the intelligent agent; introducing a dissipation force to optimize the moving efficiency; introducing a retaining force to optimize the stability; and setting a fuzzy controller to perform intelligent group formation movement control to realize group following movement control. The dissipation force and the retention force are introduced to optimize the potential field force, so that the invalid motion is reduced, and the efficiency and the stability are improved; control parameters of the fuzzy controller are adjusted, so the output is better matched with the actual environment, and the adaptability of the intelligent agent is improved; each agent can independently process data and information, and damage and departure of nodes in a group do not affect group movement; the method is suitable for multi-agent formation movement control.

Description

technical field [0001] The invention belongs to the technical field of intelligent control and artificial intelligence, and mainly relates to the formation movement control of multi-agents, specifically a fuzzy logic-based intelligent group formation movement control method, which is used for attack and defense coordination, patrol search, group movement and group control, unknown Environmental exploration and military operations, etc. Background technique [0002] Intelligent control is an interdisciplinary subject based on control theory, computer science, artificial intelligence, and operations research. Intelligent control expands related theories and technologies, among which fuzzy logic, neural network, expert system, genetic algorithm and other theories are widely used, as well as technologies such as adaptive control, self-organizing control and self-learning control. Intelligent control is mainly used to solve the control problems of complex systems that are diffic...

Claims

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Application Information

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IPC IPC(8): G05D1/02
CPCG05D1/0289
Inventor 黄庆东杜昭强李晓瑞
Owner XIAN UNIV OF POSTS & TELECOMM
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