Multi-agent distributed hunting method for escaper with uncertain position

A multi-agent, escaper technology, applied in complex mathematical operations, special data processing applications, data processing applications, etc., can solve problems such as the situation that only the position of escapees can be obtained in real time, and achieve the effect of avoiding collisions

Pending Publication Date: 2022-03-01
TIANJIN UNIV
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Problems solved by technology

However, most of the multi-agent dynamic round-up problems are only for the scene where there is only one escaper in the environment, and only consider the situation where the escaper's position can be obtained in real time

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  • Multi-agent distributed hunting method for escaper with uncertain position
  • Multi-agent distributed hunting method for escaper with uncertain position
  • Multi-agent distributed hunting method for escaper with uncertain position

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Embodiment Construction

[0077] The invention proposes a multi-agent distributed round-up method with uncertain positions of escapees, which is mainly composed of a simulation part and an algorithm part.

[0078] Based on MATLAB2019 software, the simulation part is designed to be in a bounded environment n p hunters to round up n e escapers, where they are all in a bounded area, and the initial position is randomly assigned, where the capture radius is set to r c =0.03m, and the maximum speed of each robot is the same, that is, set k p = 0.005. Furthermore, in order to verify the performance of the proposed round-up strategy, the escaper's strategy also needs to be designed. By comparing with other strategies, the escaper adopts the control strategy of "moving to the center of mass" in the present invention. The control strategy is:

[0079]

[0080] Among them, V e is the Voronoi partition of the fugitive, is the centroid point of the partition.

[0081] The algorithm part is mainly compo...

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Abstract

The invention belongs to the field of multi-agent distributed hunting strategy research, and provides a multi-agent distributed hunting method with uncertain escaper positions, which can capture one or more escapers, avoid mutual collision and ensure the safety of hunting tasks. The invention discloses a multi-agent distributed hunting method for an uncertain escaper position, and the method comprises the following steps: carrying out the real-time estimation of the position of an escaper through combining with a Kalman filtering prediction algorithm, and obtaining a probability density function related to the position distribution of the escaper; designing a surrounding strategy of a single escaper: executing the surrounding strategy based on the Voronoi centroid, continuously moving to the estimated position of the escaper, and finally realizing capturing; and finally, the escaper has no place to hide, so that capturing is realized, namely an area minimization strategy is realized. The method is mainly applied to an intelligent agent surrounding occasion.

Description

technical field [0001] The invention belongs to the research field of multi-agent distributed round-up strategy, and specifically relates to a target estimation and prediction algorithm based on Kalman filter, a design method of round-up strategy for a single fugitive, and a design method of round-up strategy for multiple fugitives. Background technique [0002] In recent years, with the wide application of multi-robots, multi-UAVs, multi-unmanned vehicles and other multi-agents in military and industry, the multi-agent distributed round-up strategy has become an important research direction in the field of multi-agents. A cutting-edge research topic in recent years. Dynamic siege is the pursuit-escape problem (Pursuit-Evasion Games) is to study how to guide multiple agents (such as drones, robots, satellites) (hereinafter referred to as hunters) to cooperate with each other to capture another group of moving agents (hereinafter referred to as Runner), it is inspired by the...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G06F30/20G06F17/18G06Q10/04G06F119/10
CPCG06F30/20G06F17/18G06Q10/04G06F2119/10
Inventor 田栢苓李品品宗群
Owner TIANJIN UNIV
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