Multi-agent accompanying and formation keeping method and system based on position beacons

Abstract

The invention provides a multi-agent accompanying and formation keeping method and system based on position beacons, and the method comprises the steps: obtaining task environment information, and constructing a task environment information matrix; determining the azimuth angle of the multi-agent formation and the feasible coordinate point of the multi-agent formation, and determining the detection orientation and the navigation speed of the agents in the multi-agent formation; and obtaining the multi-agent adjoint flight shield formation based on the azimuth angle, the feasible coordinate point, the detection orientation and the navigation speed. According to the method, the maximum safe reconnaissance range of the formation can be rapidly determined according to the binary search method and the position beacons, meanwhile, the multi-agent formation can be more accurately determined through non-grid processing, and C-type and II-type three-dimensional multi-agent accompanying formation agile planning in the three-dimensional environment is achieved.

Description

Technical Field

[0001] The present invention belongs to the field of multi-agent accompanying flight, and more specifically, relates to a multi-agent accompanying and formation keeping method and system based on position beacons. Background Art

[0002] With the rapid development of modern science and technology, intelligent, unmanned, and low-cost agents have been widely used in accompanying and maintaining formations in various civilian fields, such as logistics workshop robot distribution of goods, drone performances, etc. Due to its intelligent, unmanned and low-cost characteristics, the role of this agent in the task execution process is becoming increasingly prominent. It can accompany the executors to detect targets that threaten them and complete tasks with higher threat coefficients, thereby reducing the impact on the lives of the executors. Therefore, it is particularly important to study the multi-agent accompanying and formation maintaining methods based on location beacons to detect the overall situation, accompany and cover the executors to ensure their life safety.

[0003] Since the mission environment is usually complex and the speed and direction of the executors are uncontrollable, it is difficult for the agent to accompany and cover the executors and maintain the formation. In order to better adapt to the mission environment, accompany and cover the executors, detect threat targets, and maintain the formation, it is necessary to consider the accompanying method, the formation maintenance mechanism, and the stability of the agent, and study the multi-dimensional accompanying cover scheme. However, there is currently no better collaborative solution for the above aspects, and most of them are studied from the aspects of control protocol, two-dimensional plane, or known main route / direction of travel. Summary of the invention

[0004] The purpose of the present invention is to provide a multi-agent accompaniment and formation maintenance method and system based on position beacons, which has the ability to generate different accompaniment formations such as C-type and II-type, and has the ability to accompany the movement of the protected object (executor) according to the established formation.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A multi-agent accompanying and formation keeping method based on position beacons, comprising:

[0007] Step S101, obtaining task environment information and constructing a task environment information matrix;

[0008] Step S102, determining the azimuth of the multi-agent formation based on the task environment information matrix;

[0009] Step S103, determining feasible coordinate points of the multi-agent formation based on the task environment information matrix;

[0010] Step S104, determining the detection direction and navigation speed of the agents in the multi-agent formation based on the task environment information matrix;

[0011] Step S105, obtaining a multi-agent accompanying flight cover formation based on the azimuth, feasible coordinate points, detection direction and navigation speed.

[0012] Furthermore, the task environment information includes longitude ,latitude and high .

[0013] Furthermore, the step S102 specifically includes:

[0014] Get the coordinates of the last moment of the execution With the current coordinates of the executor ; , is the longitude of the corresponding coordinate, , is the latitude of the corresponding coordinate, , is the height of the corresponding coordinate;

[0015] Convert the coordinates of the previous moment and the current moment's longitude and latitude into radians;

[0016] The azimuth angle is calculated using the inverse tangent function and converted into degrees;

[0017] Convert the azimuth angle to a value between 0 and 360 degrees.

[0018] Furthermore, the feasible coordinate points of the multi-agent formation determined in step S103 specifically include:

[0019] Determine the maximum feasible horizontal radius / captain of the formation through binary search method;

[0020] Determine the feasible coordinate points of multi-agent formations when forming a C-type formation or a II-type formation;

[0021] Correct the feasible coordinate points of the formation to obtain the final feasible coordinate points.

[0022] Furthermore, the determining of the maximum feasible horizontal radius / team leader of the formation by the binary search method specifically includes:

[0023] Determine the feasible horizontal radius / captain range and the minimum horizontal radius / captain , maximum horizontal radius / captain , The horizontal radius or horizontal captain of the set executive and multi-agent;

[0024] Initialize the maximum feasible horizontal radius / captain ;

[0025] Calculate the maximum feasible horizontal radius / captain as:

[0026]

[0027]

[0028]

[0029] in, express The formation under these conditions is not feasible. express The formation is feasible under the conditions. is the maximum feasible horizontal radius / captain of the last calculation;

[0030] Repeatedly calculate the maximum feasible horizontal radius / captain, when When , the calculation ends and the maximum feasible horizontal radius / captain is found .

[0031] Furthermore, the feasible coordinate points of the multi-agent formation when determining the C-formation specifically include:

[0032] Based on the maximum feasible horizontal radius And the set horizontal safety distance Determine the angle between multiple agents ,

[0033]

[0034]

[0035] in, The number of multi-agents that can be accommodated at the same level, is the set number of multi-agents, Indicates a C-formation. It indicates a semi-C formation;

[0036] According to the multi-agent formation azimuth of step S102 , the angle between multiple agents Determine the azimuth of feasible coordinate points ,

[0037]

[0038] in Indicates Multiple intelligent agents, ;

[0039] According to the vertical height of the set executive and multi-agent , Azimuth of feasible coordinate points and the maximum feasible horizontal radius , determine the initial coordinates of the feasible coordinate points of the multi-agent formation ,

[0040]

[0041]

[0042]

[0043]

[0044]

[0045] in, It represents the arc length of the earth per degree in kilometers; Indicates the maximum feasible horizontal radius in kilometers; The unit is radian, used to calculate longitude and latitude; Represents the longitude coordinate of the agent; Represents the latitude coordinate of the agent.

[0046] Furthermore, the feasible coordinate points of the multi-agent formation when determining the Type II formation specifically include:

[0047] Based on the maximum feasible level of captain 、Multi-agent formation azimuth , determine the relative point of the agent and and the relative azimuth of the relative point ;

[0048]

[0049]

[0050]

[0051]

[0052]

[0053]

[0054]

[0055] in It represents the arc length of the earth per degree in kilometers;

[0056] Based on the maximum feasible horizontal radius And the set horizontal safety distance Determine the spacing between multiple agents;

[0057]

[0058]

[0059] According to the vertical height of the set executive and multi-agent , Azimuth of feasible coordinate points and the maximum feasible horizontal radius , determine the feasible coordinate points of the multi-agent formation ,

[0060]

[0061]

[0062]

[0063]

[0064]

[0065]

[0066] in Indicates an agent; Indicates the number of agents set on one side of the Type II formation.

[0067] Furthermore, according to the vertical safety distance set by the executive , the feasible coordinate points of the formation are corrected in the vertical direction, and the corrected feasible coordinate points are:

[0068]

[0069]

[0070]

[0071]

[0072]

[0073] in Indicates the number of agents that cannot be accommodated in the same horizontal plane, Indicates the number of agents accommodated on the same horizontal plane, is the set number of multi-agents; Indicates that the number of agents that cannot be accommodated is a multiple of the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; It represents the remainder of the number of agents that cannot be accommodated divided by the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; Represents the corrected feasible coordinate point.

[0074] Furthermore, determining the detection direction and navigation speed of the agents in the multi-agent formation in step S104 specifically includes:

[0075] Based on the current coordinates of the executor and the position of the agent in the formation , using the method for determining the azimuth of the multi-agent formation in step S102 to determine the detection direction of the agent;

[0076] Based on executor speed And the agent limits the speed Determines the speed at which the agent sails.

[0077] A multi-agent accompanying and formation keeping system based on position beacons, characterized by comprising:

[0078] A task environment information input unit, used to input task environment information and set parameters;

[0079] A multi-agent formation azimuth determination unit, which is used to determine the azimuth of the multi-agent formation based on the task environment information matrix;

[0080] The feasible coordinate point determination unit of the multi-agent formation is used to determine the feasible coordinate points of the multi-agent formation based on the task environment information matrix.

[0081] The detection direction and navigation speed determination unit of the agent in the multi-agent formation is used to determine the detection direction and navigation speed of the agent in the multi-agent formation based on the task environment information matrix.

[0082] The output unit outputs the multi-agent accompanying flight cover formation information based on the azimuth, feasible coordinate points, detection direction and navigation speed.

[0083] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention can quickly determine the maximum safe reconnaissance range of the formation according to the binary search method and the position beacon, and at the same time the non-grid processing can more accurately determine the multi-agent formation, and realize the agile planning of type C and type II three-dimensional multi-agent accompanying formation in a three-dimensional environment; the present invention is an accompanying flight cover method with the formation maintenance capability of space (three-dimensional), time (speed), and agent detection direction.

[0084] The present invention is a method for multi-agent companionship and formation maintenance based on position beacons, comprising the following steps:

[0085] (1) Load task environment information.

[0086] In the escort and cover scenario, the mission environment (natural obstacles, buildings, no-fly zones, radar detection range, etc.) is particularly important for the escort and formation maintenance of the agent. First, the mission environment information matrix is ​​constructed. The mission environment information refers to the three-dimensional spatial information including longitude and latitude. ,latitude and high . Then the task environment information matrix can be expressed as:

[0087]

[0088] in Represents the task environment information matrix; Indicates the row of the matrix, which refers to the number of rows after parsing the map; Represents the columns of the matrix, which refers to the number of columns after parsing the map; Indicates that after parsing the map OK The height value of the geographic information of the column position; the row and column height value corresponding to the no-fly zone boundary is 30000, indicating that the agent cannot cross the domain; the row and column height value within the radar detection range is the actual radar detection range.

[0089] (2) Determine the azimuth of the multi-agent formation.

[0090] Definition of azimuth: It represents the angle between the multi-agent formation and the north direction (unit: degree). The angle between the multi-agent formation and the north direction is 0 degrees.

[0091] Multi-agent formation azimuth The coordinates of the executor at the last moment With the current coordinates of the executor The general coordinates of the executive are expressed as , represents the longitude of the executive, Indicates the latitude of the executive, Indicates the height of the operator relative to the ground. Multi-agent formation azimuth The calculation of is as follows:

[0092] 1) Convert longitude and latitude to radians

[0093]

[0094]

[0095]

[0096]

[0097] 2) Use the inverse tangent function to calculate the azimuth and convert it into degrees

[0098]

[0099]

[0100]

[0101] 3) Ensure that the azimuth angle is within the range of 0-360 degrees

[0102]

[0103] (3) Determine the feasible coordinate points of the multi-agent formation

[0104] When multiple agents accompany the executive personnel to carry out accompanying detection, in order to ensure that there is no collision between the multiple agents when forming a formation, the executive personnel will set a safety distance between the multiple agents in the formation, including the horizontal safety distance and the vertical safety distance between the multiple agents. In addition, the executive personnel will also limit the execution radius during C-type formation detection, the execution leader during II-type formation detection, and the height of the multiple agents relative to the executive personnel. Here, the present invention uses Indicates the horizontal safety distance, Indicates the vertical safety distance, using Indicates the vertical height between the executive and the multi-agent, Indicates the horizontal radius or horizontal captain of the executive and multi-agent, It represents the radius or captain of the line between the executive and the multi-agent. , and There is the following relationship between them.

[0105]

[0106] 1) Determination of the feasible radius of the formation

[0107] The execution radius set by the executor is only a limit on the maximum execution radius of the formation. However, due to the influence of the task environment, the execution radius set by the executor may not be feasible. Therefore, the execution radius of the formation needs to be corrected according to the task environment.

[0108] The present invention will eventually be based on the horizontal radius set by the executive / captain And the coordinates of the multi-agent formation that meets the safety distance under the horizontal radius, and the maximum feasible horizontal radius / team leader are determined by binary search method ,When determining the coordinates of multi-agent companions, there is no need to perform gridding or other processing, which can improve the accuracy of companion flight.

[0109] The binary search method narrows the search range by comparing the middle element of the array with the target value, thereby improving the search efficiency. The specific process is as follows:

[0110] ① Determine the feasible horizontal radius / captain range

[0111] is the minimum horizontal radius / captain, Maximum horizontal radius / captain

[0112] ② Initialize the maximum feasible horizontal radius / captain

[0113]

[0114] ③ Update and determine the maximum feasible horizontal radius / captain

[0115]

[0116]

[0117]

[0118] in express The formation under these conditions is not feasible. express The formation is feasible under the conditions.

[0119] ④Determine the maximum feasible horizontal radius / team leader termination condition

[0120] Repeat the assignment operation in step ③. When , step ③ ends, and the maximum feasible horizontal radius / captain is found .

[0121] 2) Determination of feasible coordinate points for multi-agent formation in C-type formation

[0122] Determine the feasible coordinate points of multi-agent C-type formation Need to obtain the maximum feasible horizontal radius , the vertical height of executives and multi-agents 、Multi-agent formation azimuth , the number of multi-agents And the azimuth of the feasible coordinate point The vertical height between the executive and the multi-agent Known, maximum feasible horizontal radius Azimuth with multi-agent formation The azimuth of the feasible coordinate point can be obtained through the above process. And the feasible coordinate points of the multi-agent C-type formation The calculation process is as follows.

[0123] ①Determine the angle between multiple agents

[0124] The angle between multiple agents By the number of multi-agents and horizontal safety distance The calculation formula is as follows.

[0125]

[0126]

[0127] in Represents the maximum feasible horizontal radius , horizontal safety distance The number of multi-agents that can be accommodated on the same horizontal plane; when the executor walks close to the wall, the complete C-formation cannot be maintained. Therefore, the present invention considers this situation and can first form a semi-C-formation to ensure that the executor can also receive the accompanying protection of the multi-agents when walking close to the wall. Indicates a C-formation. Indicates a semi-C formation.

[0128] ② Determine the azimuth of feasible coordinate points of multi-agent formation

[0129] According to the multi-agent formation azimuth (the direction of the center of the C-shaped formation), the angle between multiple agents The azimuth of the feasible coordinate point can be determined , the calculation formula is as follows.

[0130]

[0131] in Indicates Multiple intelligent agents, .

[0132] ③Determine the feasible coordinate points of the multi-agent formation

[0133] According to the vertical height of the executive and the multi-agent , Azimuth of feasible coordinate points and the maximum feasible horizontal radius , the initial coordinates of the feasible coordinate points of the multi-agent formation can be determined, and the calculation process is shown below.

[0134]

[0135]

[0136]

[0137]

[0138]

[0139]

[0140] in It represents the arc length of the earth per degree in kilometers; Indicates the maximum feasible horizontal radius in kilometers; The unit is radian, used to calculate longitude and latitude; Represents the longitude coordinate of the agent; Represents the latitude coordinate of the agent.

[0141] 3) Determination of feasible coordinate points for multi-agent formation in type II formation

[0142] Determining the feasible coordinate points of the multi-agent type II formation requires obtaining the maximum feasible horizontal captain , the vertical height of executives and multi-agents 、Multi-agent formation azimuth , the number of multi-agents , multi-agent relative point and and relative azimuth The vertical height between the executive and the multi-agent Known, maximum feasible level captain Azimuth with multi-agent formation The relative azimuth can be obtained through the above process. , multi-agent relative point and And the feasible coordinate points of multi-agent type II formation The calculation process is as follows.

[0143] ① Determine the relative points and relative azimuths of multiple agents

[0144] Unlike the C-type formation, which needs to calculate the angle, the II-type formation needs to calculate the relative point of the agent. and and the relative azimuth with respect to the relative point .

[0145]

[0146]

[0147]

[0148]

[0149]

[0150]

[0151]

[0152]

[0153]

[0154]

[0155]

[0156] ②Determine the distance between multiple agents

[0157] The distance between multiple agents By the number of multi-agents and horizontal safety distance The calculation formula is as follows.

[0158]

[0159]

[0160] ③ Determine the feasible coordinate points of the multi-agent formation (all)

[0161] According to the vertical height of the executive and the multi-agent , relative azimuth And the distance between multiple agents and relative points , the initial coordinates of the feasible coordinate points of the multi-agent formation can be determined, and the calculation process is shown below.

[0162]

[0163]

[0164]

[0165]

[0166]

[0167]

[0168]

[0169] in Indicates an agent; Indicates the number of agents set on one side of the Type II formation.

[0170] 4) Correction of feasible coordinate points of multi-agent formation

[0171] When there are too many agents to fit on the same horizontal plane, the feasible coordinate points obtained through the above steps will be insufficient. At this time, assigning agents to feasible coordinate points will result in multiple agents being at the same location. Therefore, the vertical safety distance set by the executor will be used. , correct the feasible coordinate points in the vertical direction, and the calculation formula is as follows.

[0172]

[0173]

[0174]

[0175]

[0176]

[0177] in Indicates the number of agents that cannot be accommodated in the same horizontal plane; Indicates the number of agents that can be accommodated on the same horizontal plane; Indicates that the number of agents that cannot be accommodated is a multiple of the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; It represents the remainder of the number of agents that cannot be accommodated divided by the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; Represents the corrected feasible coordinate point.

[0178] (4) Determine the detection direction and navigation speed of the agents in the multi-agent formation

[0179] In determining the detection direction of the agent and sailing speed Before the detection, it is necessary to determine the coordinate points of the intelligent agent. The present invention determines the coordinate points of the intelligent agent through a task allocation method, thereby calculating the detection direction and navigation speed of the initial multiple intelligent agents.

[0180] Task allocation is to allocate feasible coordinate points to multiple agents based on multi-agent information and the principle of proximity, so that the agents can quickly move to nearby feasible coordinate points to better maintain the formation.

[0181] 1) Detection direction determination

[0182] The detection direction of the agent and the current coordinates of the executor and the position of the agent in the formation The calculation formula for the agent's detection direction is shown below.

[0183] ①Convert longitude and latitude into radians

[0184]

[0185]

[0186]

[0187]

[0188] ② Use the inverse tangent function to calculate the azimuth and convert it into degrees

[0189]

[0190]

[0191]

[0192] ③ Ensure that the azimuth angle is within the range of 0-360 degrees

[0193]

[0194] 2) Determination of sailing speed

[0195] In order to ensure the sailing speed The stability of the agent's navigation speed will be limited to a certain range, which is determined by the speed of the executive And the agent limits the speed The sailing speed is determined as shown in the following formula.

[0196]

[0197]

[0198] in Indicates the distance traveled by the executive. Indicates two accompanying formation update times, Indicates the actual speed at which the operator is moving.

[0199] (5) Multi-agent accompanying flight cover formation

[0200] Through the above process, the multi-agent accompanying flight cover formation sequence is: , respectively represent the agent number, longitude, latitude, altitude, azimuth, and speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0201] Figure 1 This is a flowchart of a specific implementation of the method of multi-agent accompaniment and formation maintenance based on location beacons of the present invention.

[0202] Figure 2 Flowchart for finding the maximum feasible horizontal radius / captain of the binary search method of the present invention

[0203] Figure 3 This is a result diagram of the multi-agent C-type accompanying flight cover formation of the present invention.

[0204] Figure 4 This is a result diagram of specific coordinate points of the multi-agent C-type accompanying flight cover formation of the present invention.

[0205] Figure 5 This is a result diagram of the multi-agent type II accompanying flight cover formation of the present invention.

[0206] Figure 6 This is a result diagram of specific coordinate points of the multi-agent II accompanying flight cover formation of the present invention. DETAILED DESCRIPTION

[0207] The specific implementation of the present invention is described below in conjunction with the accompanying drawings so that those skilled in the art can better understand the present invention. It should be noted that in the following description, when the detailed description of known functions and designs may dilute the main content of the present invention, these descriptions will be omitted here.

[0208] Figure 1 FIG. 1 is a flowchart of a specific implementation of the method for multi-agent companionship and formation maintenance based on location beacons of the present invention. Figure 1 As shown, the specific steps of the method for multi-agent accompanying and formation keeping based on location beacons of the present invention include:

[0209] S101: Loading task environment information.

[0210] In the escort and cover scenario, the mission environment (natural obstacles, buildings, no-fly zones, radar detection range, etc.) is particularly important for the escort and formation maintenance of the agent. First, the mission environment information matrix is ​​constructed. The mission environment information refers to the three-dimensional spatial information including longitude and latitude. ,latitude and high . Then the task environment information matrix can be expressed as:

[0211]

[0212] in Represents the task environment information matrix; Indicates the row of the matrix, which refers to the number of rows after parsing the map; Represents the columns of the matrix, which refers to the number of columns after parsing the map; Indicates that after parsing the map OK The height value of the geographic information of the column position; the row and column height value corresponding to the no-fly zone boundary is 30000, indicating that the agent cannot cross the domain; the row and column height value within the radar detection range is the actual radar detection range.

[0213] S102: Determine the azimuth of the multi-agent formation.

[0214] Definition of azimuth: It represents the angle between the multi-agent formation and the north direction (unit: degree). The angle between the multi-agent formation and the north direction is 0 degrees.

[0215] Multi-agent formation azimuth The coordinates of the executive are With the current coordinates of the executor The general coordinates of the executive are expressed as , represents the longitude of the executive, Indicates the latitude of the executive, Indicates the height of the operator relative to the ground. Multi-agent formation azimuth The determination of is mainly to calculate the angle between the vector formed by two points and the true north direction in the longitude and latitude environment. The calculation of is as follows:

[0216] S201) Convert latitude and longitude to radians

[0217]

[0218]

[0219]

[0220]

[0221] S202) Use the inverse tangent function to calculate the azimuth and convert it into degrees

[0222]

[0223]

[0224]

[0225] S203) Ensure that the azimuth angle is within the range of 0-360 degrees

[0226]

[0227] S103: Determine feasible coordinate points for multi-agent formation

[0228] When multiple agents accompany the executive personnel to carry out accompanying detection, in order to ensure that there is no collision between the multiple agents when forming a formation, the executive personnel will set a safety distance between the multiple agents in the formation, including the horizontal safety distance and the vertical safety distance between the multiple agents. In addition, the executive personnel will also limit the execution radius during C-type formation detection, the execution leader during II-type formation detection, and the height of the multiple agents relative to the executive personnel. Here, the present invention uses Indicates the horizontal safety distance, Indicates the vertical safety distance, using Indicates the vertical height between the executive and the multi-agent, Indicates the horizontal radius or horizontal captain of the executive and multi-agent, It represents the radius or captain of the line between the executive and the multi-agent. , and There is the following relationship between them.

[0229]

[0230] The specific steps to determine the feasible coordinate points of the multi-agent formation include:

[0231] S301) Determination of the feasible radius of the formation

[0232] The execution radius set by the executor is only a limit on the maximum execution radius of the formation. However, due to the influence of the task environment, the execution radius set by the executor may not be feasible. Therefore, the execution radius of the formation needs to be corrected according to the task environment.

[0233] The present invention will eventually be based on the horizontal radius set by the executive / captain And the coordinates of the multi-agent formation that meets the safety distance under the horizontal radius, such as Figure 2 As shown, the maximum feasible horizontal radius / captain is determined by binary search ,When determining the coordinates of multi-agent companions, there is no need to perform gridding or other processing, which can improve the accuracy of companion flight.

[0234] The binary search method narrows the search range by comparing the middle element of the array with the target value, thereby improving the search efficiency. The specific process is as follows:

[0235] ① Determine the feasible horizontal radius / captain range

[0236] is the minimum horizontal radius / captain, Maximum horizontal radius / captain

[0237] ② Initialize the maximum feasible horizontal radius / captain

[0238]

[0239] ③ Update and determine the maximum feasible horizontal radius / captain

[0240]

[0241]

[0242]

[0243] in express The formation under these conditions is not feasible. express The formation is feasible under the conditions.

[0244] ④Determine the maximum feasible horizontal radius / team leader termination condition

[0245] Repeat the assignment operation in step ③. When , step ③ ends, and the maximum feasible horizontal radius / captain is found .

[0246] Due to the differences between Type C and Type II formations, the calculation process for determining feasible coordinate points for Type C and Type II formations is different. The main differences are described below.

[0247] S302) Determination of feasible coordinate points of multi-agent formation in C-type formation

[0248] Determine the feasible coordinate points of multi-agent C-type formation Need to obtain the maximum feasible horizontal radius , the vertical height of executives and multi-agents 、Multi-agent formation azimuth , the number of multi-agents And the azimuth of the feasible coordinate point The vertical height between the executive and the multi-agent Known, maximum feasible horizontal radius Azimuth with multi-agent formation It can be obtained through the above process. The azimuth of the feasible coordinate point The feasible coordinate points of the multi-agent C-type formation can be obtained by calculating the azimuth angle in the longitude and latitude environment. It can be obtained by calculating the coordinate points in the latitude and longitude environment, which includes the following steps:

[0249] ①Determine the angle between multiple agents

[0250] The angle between multiple agents By the number of multi-agents and horizontal safety distance The calculation formula is as follows.

[0251]

[0252]

[0253] in Represents the maximum feasible horizontal radius , horizontal safety distance The number of multi-agents that can be accommodated on the same horizontal plane; when the executor walks close to the wall, the complete C-formation cannot be maintained. Therefore, the present invention considers this situation and can first form a semi-C-formation to ensure that the executor can also receive the accompanying protection of the multi-agents when walking close to the wall. Indicates a C-formation. Indicates a semi-C formation.

[0254] ② Determine the azimuth of feasible coordinate points of multi-agent formation

[0255] According to the multi-agent formation azimuth (the direction of the center of the C-shaped formation), the angle between multiple agents The azimuth of the feasible coordinate point can be determined , the calculation formula is as follows.

[0256]

[0257] in Indicates Multiple intelligent agents, .

[0258] ③Determine the feasible coordinate points of the multi-agent formation

[0259] According to the vertical height of the executive and the multi-agent , Azimuth of feasible coordinate points and the maximum feasible horizontal radius , the initial coordinates of the feasible coordinate points of the multi-agent formation can be determined, and the calculation process is shown below.

[0260]

[0261]

[0262]

[0263]

[0264]

[0265]

[0266] in It represents the arc length of the earth per degree in kilometers; Indicates the maximum feasible horizontal radius in kilometers; The unit is radian, used to calculate longitude and latitude; Represents the longitude coordinate of the agent; Represents the latitude coordinate of the agent

[0267] S303) Determination of feasible coordinate points of multi-agent formation in type II formation

[0268] Determining the feasible coordinate points of the multi-agent type II formation requires obtaining the maximum feasible horizontal captain , the vertical height of executives and multi-agents 、Multi-agent formation azimuth , the number of multi-agents , multi-agent relative point and and relative azimuth The vertical height between the executive and the multi-agent Known, maximum feasible level captain Azimuth with multi-agent formation It can be obtained through the above process. And the relative azimuth It can be obtained by calculating the azimuth angle in the longitude and latitude environment, and the relative position of multiple agents and And the feasible coordinate points of multi-agent type II formation It can be obtained by calculating the coordinate points in the latitude and longitude environment. , multi-agent relative point and And the feasible coordinate points of multi-agent type II formation The calculation process is as follows:

[0269] ① Determine the relative points and relative azimuths of multiple agents

[0270] Unlike the C-type formation, which needs to calculate the angle, the II-type formation needs to calculate the relative point of the agent. and and the relative azimuth with respect to the relative point .

[0271]

[0272]

[0273]

[0274]

[0275]

[0276]

[0277]

[0278]

[0279]

[0280]

[0281]

[0282] ②Determine the distance between multiple agents

[0283] The distance between multiple agents By the number of multi-agents and horizontal safety distance The calculation formula is as follows.

[0284]

[0285]

[0286] ③ Determine the feasible coordinate points of the multi-agent formation (all)

[0287] According to the vertical height of the executive and the multi-agent , relative azimuth And the distance between multiple agents and relative points , the initial coordinates of the feasible coordinate points of the multi-agent formation can be determined, and the calculation process is shown below.

[0288]

[0289]

[0290]

[0291]

[0292]

[0293]

[0294]

[0295] in Indicates an agent; Indicates the number of agents set on one side of the Type II formation.

[0296] S303) Correction of feasible coordinate points of multi-agent formation

[0297] When there are too many agents to fit on the same horizontal plane, the feasible coordinate points obtained through the above steps will be blocked. At this time, assigning agents to feasible coordinate points will result in multiple agents being at the same location. Therefore, the vertical safety distance set by the executor will be used. , correct the feasible coordinate points in the vertical direction, and the calculation formula is as follows.

[0298]

[0299]

[0300]

[0301]

[0302]

[0303] in Indicates the number of agents that cannot be accommodated in the same horizontal plane; Indicates the number of agents that can be accommodated on the same horizontal plane; Indicates that the number of agents that cannot be accommodated is a multiple of the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; It represents the remainder of the number of agents that cannot be accommodated divided by the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; Represents the corrected feasible coordinate point.

[0304] S104: Determine the detection direction and navigation speed of the agents in the multi-agent formation

[0305] In determining the detection direction of the agent and sailing speed Before the detection, it is necessary to determine the coordinate points of the intelligent agent. The present invention determines the coordinate points of the intelligent agent through a task allocation method, thereby calculating the detection direction and navigation speed of the initial multiple intelligent agents.

[0306] Task allocation is to allocate feasible coordinate points to multiple agents based on the information of multiple agents and the principle of proximity, so that the agents can quickly go to nearby feasible coordinate points to better maintain the formation. Specifically, it includes:

[0307] S401) Detection direction determination

[0308] The detection direction of the agent and the current coordinates of the executor and the position of the agent in the formation Regarding, the agent detects the direction It can be obtained by calculating the azimuth angle in the longitude and latitude environment.

[0309] The calculation formula for the agent's detection direction is shown below.

[0310] ①Convert longitude and latitude into radians

[0311]

[0312]

[0313]

[0314]

[0315] ② Use the inverse tangent function to calculate the azimuth and convert it into degrees

[0316]

[0317]

[0318]

[0319] ③ Ensure that the azimuth angle is within the range of 0-360 degrees

[0320]

[0321] S402) Determination of sailing speed

[0322] In order to ensure the sailing speed The stability of the agent's navigation speed will be limited to a certain range, which is determined by the speed of the executive And the agent limits the speed The sailing speed is determined as shown in the following formula.

[0323]

[0324]

[0325] in Indicates the distance traveled by the executive. Indicates two accompanying formation update times, Indicates the actual speed at which the operator is moving.

[0326] S105: Multi-agent accompanying flight cover formation

[0327] Through the above process, the multi-agent accompanying flight cover formation sequence is: , respectively represent the agent number, longitude, latitude, altitude, azimuth, and speed.

[0328] Example

[0329] In order to better illustrate the technical effect of the present invention, a specific example is used to experimentally verify the present invention. Assume that during the execution of a certain task, the coordinates of the executor at the time are known. With the current coordinates of the executor . Companion Agent There are 12 with 4 related attribute information, including agent number, longitude, latitude, and altitude.

[0330] When entering the coordinates of the executive at the time , the current coordinates of the executor , horizontal radius / captain , the vertical height of executives and multi-agents , horizontal safety distance , vertical safety distance , Distance travelled by the executors , accompanied by interval time And agent information When the formation type is C-type formation, we can get Figure 3 The C-type accompanying flight cover result shown in the figure is as follows: Figure 4 As shown; when the formation type is type II formation, we can get Figure 5 The result of the Type II accompanying flight cover is shown in Figure 1. The specific coordinates of the multi-agent Type II accompanying flight cover formation are as follows: Figure 6 As shown. Figure 3-Figure 6 This indicates that the present invention has the ability to generate different accompanying formations such as C-shaped and II-shaped, and can maintain the formation well.

[0331] The above described implementation modes can be modified according to actual needs. The above implementation examples are not specific limitations of the present invention, and all technical solutions similar to the present invention should belong to the protection scope of the present invention.

Claims

1. A multi-agent accompanying and formation keeping method based on location beacons, characterized in that: include: Step S101, obtaining task environment information and constructing a task environment information matrix; Step S102, determining the azimuth of the multi-agent formation based on the task environment information matrix; Step S103, determining feasible coordinate points of the multi-agent formation based on the task environment information matrix; Step S104, determining the detection direction and navigation speed of the agents in the multi-agent formation based on the task environment information matrix; Step S105, obtaining a multi-agent accompanying flight cover formation based on the azimuth, feasible coordinate points, detection direction and navigation speed.

2. A multi-agent accompanying and formation keeping method based on location beacons according to claim 1, characterized in that: The task environment information includes longitude ,latitude and high .

3. According to the method of claim 1, the method is characterized in that: The step S102 specifically includes: Get the coordinates of the last moment of the execution With the current coordinates of the executor ; , is the longitude of the corresponding coordinate, , is the latitude of the corresponding coordinate, , is the height of the corresponding coordinate; Convert the coordinates of the previous moment and the current moment's longitude and latitude into radians; The azimuth angle is calculated using the inverse tangent function and converted into degrees; Convert the azimuth angle to a value between 0 and 360 degrees.

4. A multi-agent accompanying and formation keeping method based on location beacons according to claim 3, characterized in that: Determining feasible coordinate points of the multi-agent formation in step S103 specifically includes: Determine the maximum feasible horizontal radius / captain of the formation through binary search method; Determine the feasible coordinate points of multi-agent formations when forming a C-type formation or a II-type formation; Correct the feasible coordinate points of the formation to obtain the final feasible coordinate points.

5. A multi-agent accompanying and formation keeping method based on location beacons according to claim 4, characterized in that: Determining the maximum feasible horizontal radius / captain of the formation by binary search method specifically includes: Determine the feasible horizontal radius / captain range and the minimum horizontal radius / captain , maximum horizontal radius / captain , The horizontal radius or horizontal captain of the set executive and multi-agent; Initialize the maximum feasible horizontal radius / captain ; Calculate the maximum feasible horizontal radius / captain as: ； ； ； in, express The formation under these conditions is not feasible. express The formation is feasible under the conditions. is the maximum feasible horizontal radius / captain of the last calculation; Repeatedly calculate the maximum feasible horizontal radius / captain, when When , the calculation ends and the maximum feasible horizontal radius / captain is found .

6. A multi-agent accompanying and formation keeping method based on location beacons according to claim 3, characterized in that: When determining the C-type formation, the feasible coordinate points of the multi-agent formation include: Based on the maximum feasible horizontal radius And the set horizontal safety distance Determine the angle between multiple agents , ； ； in, The number of multi-agents that can be accommodated at the same level, is the set number of multi-agents, Indicates a C-formation. It indicates a semi-C formation; According to the multi-agent formation azimuth of step S102 , the angle between multiple agents Determine the azimuth of feasible coordinate points , ； in Indicates Multiple intelligent agents, ; According to the vertical height of the set executive and multi-agent , Azimuth of feasible coordinate points and the maximum feasible horizontal radius , determine the initial coordinates of the feasible coordinate points of the multi-agent formation , ； ； ； ； ； in, It represents the arc length of the earth per degree in kilometers; Indicates the maximum feasible horizontal radius in kilometers; The unit is radian, used to calculate longitude and latitude; Represents the longitude coordinate of the agent; Represents the latitude coordinate of the agent.

7. A multi-agent accompanying and formation keeping method based on location beacons according to claim 3, characterized in that: When determining the type II formation, the feasible coordinate points of the multi-agent formation include: Based on the maximum feasible level of captain 、Multi-agent formation azimuth , determine the relative point of the agent and and the relative azimuth of the relative point ; ； ； ； ； ； ； ； in It represents the arc length of the earth per degree in kilometers; Based on the maximum feasible horizontal radius And the set horizontal safety distance Determine the spacing between multiple agents; ； ； According to the vertical height of the set executive and multi-agent , Azimuth of feasible coordinate points and the maximum feasible horizontal radius , determine the feasible coordinate points of the multi-agent formation , ； ； ； ； ； ； in Indicates an agent; Indicates the number of agents set on one side of the Type II formation.

8. The multi-agent accompanying and formation keeping method based on location beacons according to claim 1 is characterized in that: According to the vertical safety distance set by the executive , the feasible coordinate points of the formation are corrected in the vertical direction, and the corrected feasible coordinate points are: ； ； ； ； ； in Indicates the number of agents that cannot be accommodated in the same horizontal plane, Indicates the number of agents accommodated on the same horizontal plane, is the set number of multi-agents; Indicates that the number of agents that cannot be accommodated is a multiple of the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; It represents the remainder of the number of agents that cannot be accommodated divided by the feasible coordinate points on the same horizontal plane, which is used to correct the height of the feasible coordinate points; Represents the corrected feasible coordinate point.

9. The method of multi-agent accompanying and formation keeping based on location beacons according to claim 1, characterized in that: Determining the detection direction and navigation speed of the agents in the multi-agent formation in step S104 specifically includes: Based on the current coordinates of the executor and the position of the agent in the formation , using the method for determining the azimuth of the multi-agent formation in step S102 to determine the detection direction of the agent; Based on executor speed And the agent limits the speed Determines the speed at which the agent sails.

10. A multi-agent accompanying and formation keeping system based on position beacons for implementing any of the methods described in claims 1-9, characterized in that: include: A task environment information input unit, used to input task environment information and set parameters; A multi-agent formation azimuth determination unit, which is used to determine the azimuth of the multi-agent formation based on the task environment information matrix; The feasible coordinate point determination unit of the multi-agent formation is used to determine the feasible coordinate points of the multi-agent formation based on the task environment information matrix. The detection direction and navigation speed determination unit of the agent in the multi-agent formation is used to determine the detection direction and navigation speed of the agent in the multi-agent formation based on the task environment information matrix. The output unit outputs the multi-agent accompanying flight cover formation information based on the azimuth, feasible coordinate points, detection direction and navigation speed.

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