Dual-observation cooperative control technology for multi-agent survey system

Abstract

The invention relates to a double-observation cooperative control technology for a multi-agent survey system. Comprising the following steps: constructing a state space model of the complex submarine topography switching multi-agent surveying system; simulating an external disturbance signal, and monitoring and collecting external disturbance information; the multiple agents are controlled to conduct surveying work, and state information of the multiple agents is collected through a state observer; task allocation and path planning of the leader and the non-leader are optimized; and verifying the positive property and the consistency of the complex submarine topography switching multi-agent surveying system. The response speed and flexibility of the exploration task are improved, the method can better adapt to the complex and changeable seabed environment, the energy consumption in the exploration process is effectively reduced, the operation cost is reduced, and the economic benefit is improved; by verifying the positive property and the consistency of the complex submarine topography switching multi-agent surveying system, the stability and the consistency of the system are ensured, and the reliability of the whole surveying process is enhanced.

Description

Technical Field

[0001] The present invention relates to the technical field of seabed topography surveying, and in particular to a dual-observation cooperative control technology for a multi-agent surveying system. Background Art

[0002] In the vast field of marine scientific exploration and resource development, seabed topography survey is a basic and key link, which is of great significance for understanding ocean dynamics, evaluating marine ecological environment, guiding marine engineering construction and oil and gas resource development. However, the complex and changeable seabed topography, especially the extreme environment with many mountains, canyons, undercurrents and eddies, has brought great challenges to traditional surveying methods. These complex terrains not only require the survey equipment to have high accuracy and stability, but also to flexibly respond to changing environmental conditions to ensure the continuity and accuracy of data collection.

[0003] Traditional seabed topography survey methods, such as single-ship towed sonar and submersible detection, can meet the survey needs to a certain extent, but when faced with complex seabed topography, there are often problems such as low survey efficiency, limited data accuracy, and high operational risks. In recent years, with the rapid development of multi-agent system technology, its collaborative operation capability in complex environments has provided a new solution for seabed topography survey. The multi-agent system consists of multiple agents with autonomous decision-making and communication capabilities, and completes complex tasks through mutual collaboration. In seabed topography survey, the multi-agent system can be deployed in a distributed manner, each carrying or mounting survey equipment, such as sonar, lidar, etc., and through collaborative work, a comprehensive, efficient, and accurate survey of the seabed topography can be achieved. Compared with traditional methods, the multi-agent system has higher flexibility and robustness, and can better adapt to the complex and changing seabed environment.

[0004] However, the application of multi-agent systems to complex seabed terrain surveys still faces many technical challenges. First, the complexity and variability of the seabed environment requires the system to be able to perceive and accurately respond to environmental changes in real time to ensure the accuracy and consistency of survey data; second, the collaborative operation between multiple agents requires efficient communication mechanisms and collaborative control strategies to achieve optimal information sharing and task allocation; in addition, the system must also have the ability to quickly switch between multiple terrains to meet the survey needs of different terrains. Summary of the invention

[0005] Based on this, in order to solve the above technical problems, a dual-observation collaborative control technology for a multi-agent survey system is provided, which can achieve accurate perception of the seabed environment and efficient collaborative operations between agents.

[0006] A dual-observation cooperative control technology for a multi-agent survey system, the technology comprising:

[0007] Construct a state space model of a complex seafloor terrain switching multi-agent survey system;

[0008] Simulating an exogenous disturbance signal in the state space model, and monitoring and collecting exogenous disturbance information through a disturbance observer and sending the information to a collaborative controller;

[0009] The collaborative controller controls the leader of the multi-agent to perform survey work based on the leader control protocol, controls the non-leader of the multi-agent to perform survey work based on the control protocol, and collects the state information of each multi-agent through the state observer;

[0010] The collaborative controller optimizes the task allocation and path planning of the leader and non-leader according to the state information;

[0011] The optimized state information of each multi-agent is collected by the state observer, and the positivity and consistency of the complex seabed terrain switching multi-agent survey system are verified based on the optimized state information.

[0012] In one embodiment, a state space model of a complex seabed terrain switching multi-agent survey system is constructed, including:

[0013] Collect the state vector of each intelligent agent and determine the control input vector and output vector of each intelligent agent;

[0014] Obtain the switching signals between each agent and determine the system matrix of the complex seabed terrain switching multi-agent survey system;

[0015] A state space model is constructed based on the state vector, control input vector, output vector, switching signal, and system matrix.

[0016] In one embodiment, the collaborative controller optimizes the task allocation and path planning of the leader and the non-leader according to the state information, including:

[0017] The collaborative controller determines a collaborative control strategy according to the state information, and performs path planning for each intelligent agent using a linear programming method based on the collaborative control strategy;

[0018] The collaborative controller allocates and adjusts the tasks of the leader and the non-leader based on the collaborative control strategy, and plans the survey paths of the leader and the non-leader based on the linear programming method.

[0019] In one embodiment, the state space model includes a first state space model of the leader performing survey work, and a second state space model of the non-leader performing survey work;

[0020] The complex seabed terrain switching multi-agent survey system includes a leader system for the leader to conduct surveys, and a non-leader system for the non-leader to conduct surveys.

[0021] In one embodiment, verifying the positivity and consistency of the complex seabed terrain switching multi-agent survey system according to the optimized state information includes:

[0022] According to the optimized state information, matrix decomposition and Yu Zheng Lyapunov function are used to verify the leader system and the non-leader system respectively to obtain verification results;

[0023] The positivity and consistency of the complex seabed terrain switching multi-agent survey system are determined based on the verification results.

[0024] In one embodiment, the technology further includes:

[0025] respectively setting operating conditions for the leader system and the non-leader system to operate smoothly;

[0026] The positivity and consistency of the leader system and the non-leader system are verified respectively based on the operating conditions.

[0027] In one embodiment, the technology further includes:

[0028] Design a leader control protocol based on the leader in the multi-agent, and design a control protocol based on the non-leader in the multi-agent;

[0029] The leader control protocol is used to control the leader to perform surveying work; the control protocol is used to control the non-leader to perform surveying work.

[0030] A dual-observation cooperative control technology for a multi-agent survey system, the technology comprising:

[0031] The state space model building module is used to build the state space model of the complex seabed terrain switching multi-agent survey system;

[0032] A disturbance simulation module, used for simulating an exogenous disturbance signal in the state space model, and monitoring and collecting the exogenous disturbance information through a disturbance observer and sending it to the collaborative controller;

[0033] A state acquisition module, which is used for the collaborative controller to control the leader of the multi-agent to perform survey work based on the leader control protocol, control the non-leader of the multi-agent to perform survey work based on the control protocol, and collect the state information of each multi-agent through the state observer;

[0034] A task optimization module, used for the collaborative controller to optimize the task allocation and path planning of the leader and non-leader according to the state information;

[0035] The system verification module is used to collect the optimized state information of each multi-agent through the state observer, and verify the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the optimized state information.

[0036] A computer device comprises a memory and a processor, wherein the memory stores a computer program and the processor implements the steps of a dual-observation cooperative control technology for a multi-agent survey system when executing the computer program.

[0037] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps of a dual-observation cooperative control technology for a multi-agent survey system.

[0038] The above-mentioned dual-observation collaborative control technology for multi-agent survey systems constructs a state space model of the complex seabed terrain switching multi-agent survey system, simulates exogenous disturbance signals in the state space model, and controls the leader and non-leader to perform survey work through a collaborative controller, optimizes task allocation and path planning according to the survey status, improves the response speed and flexibility of the survey task, better adapts to the complex and changeable seabed environment, effectively reduces energy consumption during the survey process, reduces operating costs, and improves economic benefits; by verifying the positivity and consistency of the complex seabed terrain switching multi-agent survey system, the stability and consistency of the system are ensured, and the reliability of the entire survey process is enhanced. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1 is an application environment diagram of a dual-observation cooperative control technology for a multi-agent survey system in one embodiment;

[0040] Figure 2 A schematic diagram of a process flow of a dual-observation cooperative control technology for a multi-agent survey system in one embodiment;

[0041] Figure 3 A structural block diagram of a dual-observation cooperative control technology for a multi-agent survey system in one embodiment;

[0042] Figure 4 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0043] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0044] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe state-space models, but these state-space models are not limited by these terms. These terms are only used to distinguish a first state-space model from another state-space model. For example, without departing from the scope of this application, a first state-space model may be referred to as a second state-space model, and similarly, a second state-space model may be referred to as a first state-space model. Both the first state-space model and the second state-space model are state-space models, but they are not the same state-space model.

[0045] The dual-observation cooperative control technology for a multi-agent survey system provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Figure 1 As shown, the application environment includes a computer device 110. The computer device 110 can construct a state space model of a complex seabed terrain switching multi-agent survey system; the computer device 110 can simulate an exogenous disturbance signal in the state space model, and monitor and collect exogenous disturbance information through a disturbance observer and send it to a collaborative controller; the collaborative controller controls the leader in the multi-agent to perform survey work based on the leader control protocol, controls the non-leader in the multi-agent to perform survey work based on the control protocol, and collects the state information of each multi-agent through a state observer; the collaborative controller optimizes the task allocation and path planning of the leader and the non-leader based on the state information; the computer device 110 can collect the optimized state information of each multi-agent through a state observer, and verify the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the optimized state information. Among them, the computer device 110 can be, but is not limited to, various personal computers, laptops, smart phones, robots, unmanned aerial vehicles and other devices.

[0046] In one embodiment, Figure 2 As shown, a dual-observation cooperative control technology for a multi-agent survey system is provided, comprising the following steps:

[0047] Step 202, construct a state space model of a complex seabed terrain switching multi-agent survey system.

[0048] Among them, the state space model can be used by each intelligent agent to carry out survey activities.

[0049] Specifically, in one embodiment, a dual-observation collaborative control technology for a multi-agent survey system provided may also include a process for constructing a state space model, and the specific process includes: collecting the state vector of each agent, and determining the control input vector and output vector of each agent; obtaining the switching signal between each agent, and determining the system matrix of the complex seabed terrain switching multi-agent survey system; constructing a state space model based on the state vector, control input vector, output vector, switching signal, and system matrix.

[0050] Among them, the construction of the state space model of the complex seabed terrain switching multi-agent survey system is as follows: in, represents the state vector of the ith agent, which contains all the state information of the agent at time t, such as position, speed, etc.; u i (t)∈R n , represents the control input vector of the ith agent, which contains all external instructions or signals received by the agent at time t; y i (t)∈R n Indicates that this is the output vector of the ith agent, which contains all the signals or information sent by the agent at time t; the switching signal σ i (t) takes a value in S = {1, 2, ..., N} and performs switching between N multi-agent systems of N agents; and is a system matrix of appropriate dimensions. Assume that A i,σi(t) is a Metzler matrix, and the matrix

[0051] Step 204: simulate the external disturbance signal in the state space model, and monitor and collect the external disturbance information through the disturbance observer and send it to the cooperative controller.

[0052] The exogenous disturbance signal is described as: Among them, ξ i (t)∈R s is the additive signal of each agent, and is the Metzler matrix.

[0053] In one embodiment, the state space model includes a first state space model in which a leader performs survey work, and a second state space model in which a non-leader performs survey work; the complex seabed terrain switching multi-agent survey system includes a leader system in which a leader performs survey, and a non-leader system in which a non-leader performs survey.

[0054] Among them, the structure of the complex seabed terrain switching multi-agent survey leader system is as follows: Among them, k∈[1,M], η k (t)∈R n and is the state and control input of the leader system, S∈R n×n is the Metzler matrix and W1∈R n×r is the corresponding coefficient matrix.

[0055] Step 206, the collaborative controller controls the leader of the multi-agent to perform survey work based on the leader control protocol, controls the non-leader of the multi-agent to perform survey work based on the control protocol, and collects the state information of each multi-agent through the state observer.

[0056] In one embodiment, a dual-observation collaborative control technology for a multi-agent survey system may also include a process for designing a control protocol, the specific process including: designing a leader control protocol based on the leader in the multi-agent, and designing a control protocol based on the non-leader in the multi-agent; the leader control protocol is used to control the leader to perform survey work; the control protocol is used to control the non-leader to perform survey work.

[0057] Specifically, the leader control protocol of the complex seabed terrain switching multi-agent survey system is designed as follows: in, is a constant vector, P1∈R r×n , P2∈R r×n and It is an auxiliary item.

[0058] The control protocol of the complex seabed terrain switching multi-agent survey system is designed as follows:

[0059]

[0060] Among them, u i (t)∈R r , and i (t)∈R o They are control protocol, state estimation, disturbance estimation and output, and is the control gain matrix.

[0061] Step 208: The collaborative controller optimizes the task allocation and path planning of the leader and non-leaders according to the status information.

[0062] Among them, in one embodiment, a dual-observation collaborative control technology for a multi-agent survey system provided may also include a process for optimizing path and task allocation, and the specific process includes: the collaborative controller determines the collaborative control strategy according to the state information, and uses the linear programming method to plan the path of each agent based on the collaborative control strategy; the collaborative controller adjusts the task allocation of the leader and non-leader based on the collaborative control strategy, and plans the survey paths of the leader and non-leader based on the linear programming method.

[0063] Step 210, collect the optimized state information of each multi-agent through the state observer, and verify the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the optimized state information.

[0064] In one embodiment, a dual-observation collaborative control technology for a multi-agent survey system may also include a process for setting operating conditions, the specific process including: setting operating conditions for the smooth operation of the leader system and the non-leader system respectively; and verifying the positivity and consistency of the leader system and the non-leader system respectively based on the operating conditions.

[0065] Among them, the condition for the smooth operation of the complex seabed terrain multi-agent survey multi-leader system is: the design constant μ 21 >0,δ 21 >0,β>0, γ 21 >0, R n vector v>0 makes:

[0066]

[0067]

[0068]

[0069]

[0070]

[0071]

[0072] Therefore, the complex seabed terrain switching multi-agent survey leader system achieves positivity and consistency, and the gain matrix is: Among them, I M is the identity matrix of dimension M×M, represents an r-dimensional column vector whose lth element is 1 and the rest are 0, the gain matrix

[0073] In this embodiment, the positivity condition of the complex seabed terrain switching multi-agent survey system is: the design constant μ 21 >0,δ 21 >0,β>0,γ 21 >0, R n vector v>0 makes:

[0074]

[0075]

[0076]

[0077]

[0078]

[0079] Among them, the consistency condition of the complex seabed terrain switching multi-agent survey system is: the design constant μ 21 >0,δ 21 >0,β>0, γ 21 >0, R n vector v>0 makes:

[0080]

[0081] (μ3-α 31 ) γ 1-Mδ 32 ≤0,

[0082]

[0083]

[0084] (μ3-α 32 ) γ 33 -Mδ 33 ≤0,

[0085]

[0086]

[0087]

[0088]

[0089]

[0090]

[0091]

[0092] Therefore, the complex seabed terrain switching multi-agent survey leader system achieves positivity and consistency under the dual observer and control protocol, and the gain matrix is:

[0093]

[0094]

[0095]

[0096]

[0097]

[0098] Among them, i∈[1,N], k∈[M+1,N], f∈[M+1,N], i=1,2,...,n, and

[0099] In one embodiment, a dual-observation collaborative control technology for a multi-agent survey system may also include a system verification process, the specific process including: based on the optimized state information, using matrix decomposition and co-positive Lyapunov function to verify the leader system and the non-leader system respectively to obtain verification results; and determining the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the verification results.

[0100] The positivity and consistency verification process of the multi-agent survey and multi-leader system for complex seabed terrain switching is as follows: Let η(t) = (η1(t), η2(t),…,η m (t)), we can get:

[0101]

[0102] in, is the Laplacian matrix representing the communication topology between multiple agents. Define the variable ψ i (t), so that choose So Then we can get:

[0103]

[0104] According to the conditions for the smooth operation of the multi-agent survey and multi-leader system for complex seabed terrain and the gain matrix, it can be concluded that:

[0105]

[0106] because is the Metzler matrix, and the positivity and consistency verification conditions of the complex seabed terrain switching multi-agent survey multi-leader system and the conditions for the smooth operation of the complex seabed terrain switching multi-agent survey system are obtained: Among them, i≠j. So we have For η k (t0)≥0, we can get η k (t) ≥ 0, indicating that the multi-agent survey and multi-leader system for complex seabed terrain is positive.

[0107] Therefore, the multi-leader system in the multi-agent survey of complex seabed terrain is positive, that is, during the execution of the survey task, the positivity of the survey coverage and data acquisition quality can be verified; in collaborative work activities, the positivity of information interaction and task allocation among multiple agents can be verified; in environmental adaptation activities, the positivity of the agent's response and adjustment strategy to changes in the complex seabed environment can be verified; in energy management activities, the positivity of endurance and energy utilization efficiency can be verified.

[0108] The verification process of the consistency of the multi-agent survey leader system for complex seabed terrain switching is: Then we have:

[0109]

[0110] According to the conditions for the smooth operation of the multi-agent survey and multi-leader system for complex seabed terrain and the gain matrix, we can obtain: According to the conditions for the smooth operation of the multi-agent survey and multi-leader system in complex seabed terrain, we can obtain:

[0111]

[0112] but Right now Therefore, the multi-agent survey leader system switching in complex seabed terrain is consistent.

[0113] Therefore, it can be concluded from the above that the complex seabed terrain switching multi-agent survey leader system is consistent, that is, when designing and executing the distributed decision-making mechanism, the system can ensure that each intelligent survey equipment, navigation system, data acquisition module and collaborative operation unit, while meeting the needs of diversified survey tasks, its operating behavior and working status can be coordinated and synchronized with each other, so as to achieve efficient and orderly overall survey process and optimal allocation of resources, thereby achieving the goal of improving survey efficiency, reducing energy consumption and flexibly adapting to changes in complex seabed environment.

[0114] In this embodiment, the positivity and consistency verification process of the complex seabed terrain switching multi-agent survey system is as follows:

[0115] pass and Then there is

[0116]

[0117]

[0118]

[0119]

[0120]

[0121] The system consists of two parts: when k∈[1,M],

[0122] When f∈[M+1,N],

[0123]

[0124] Let χ(t)=(χ1(t) T , χ2(t) T , ..., χ N (t) T ) T , e(t)=(e1(t) T ,e2(t) T , ..., e M (t) T ) T ,θ(t)=(θ1(t) T ,θ2(t) T , ..., θ N (t) T ) T ,ε(t)=(ε1(t) T , ε2(t) T , ..., εM (t) T ) T , we can get:

[0125]

[0126] in,

[0127]

[0128]

[0129]

[0130] Let Ψ(t)=(χ(t) T ,e(t) T ,θ(t) T ,ε(t) T ) T , can be obtained but

[0131] Then we can get:

[0132]

[0133]

[0134] Therefore, it can be deduced that:

[0135]

[0136] Among them, the matrix ,

[0137]

[0138] Then we can get:

[0139]

[0140]

[0141] Depend on is the Metzler matrix, which indicates that the complex seabed terrain multi-agent survey system is positive.

[0142] In this embodiment, a co-positive Lyapunov function may be selected:

[0143]

[0144] in, ,

[0145] Then, there is

[0146]

[0147] Then we can get:

[0148]

[0149] Among them, i∈[1,M].

[0150]

[0151] Where i∈[M+1,N]. Therefore:

[0152]

[0153] The conditions for the smooth operation of the complex seabed terrain switching multi-agent survey system can be obtained:

[0154]

[0155] Among them, i∈[1,M].

[0156]

[0157] where i∈[M+1,N]. Therefore,

[0158] The conditions for the smooth operation of the multi-agent survey system switching in complex seabed terrain are as follows:

[0159]

[0160] Among them, i∈[1,M].

[0161]

[0162] where i∈[M+1,N]. Therefore,

[0163]

[0164] The conditions for the smooth operation of the multi-agent survey system switching in complex seabed terrain are as follows:

[0165]

[0166] Among them, i∈[1,M].

[0167] The conditions for the smooth operation of the multi-agent survey system switching in complex seabed terrain are as follows:

[0168]

[0169] Among them, i∈[1,M].

[0170]

[0171] Among them, i∈[M+1,N], therefore,

[0172]

[0173] The conditions for the smooth operation of the multi-agent survey system switching in complex seabed terrain are as follows:

[0174]

[0175] in,

[0176] Therefore, it can be obtained that the complex seabed terrain switching multi-agent survey system has consistency.

[0177] It should be understood that, although the steps in each flowchart are shown in sequence according to the indication of the arrows, these steps are not necessarily performed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps is not strictly limited in order, and these steps can be performed in other orders. Moreover, at least a part of the steps in the above flowcharts may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0178] In one embodiment, Figure 3 As shown, a dual-observation cooperative control technology for a multi-agent survey system is provided, including: a state space model construction module 310, a disturbance simulation module 320, a state acquisition module 330, a task optimization module 340 and a system verification module 350, wherein:

[0179] A state space model building module 310 is used to build a state space model of a complex seabed terrain switching multi-agent survey system;

[0180] The disturbance simulation module 320 is used to simulate the external disturbance signal in the state space model, and monitor and collect the external disturbance information through the disturbance observer and send it to the cooperative controller;

[0181] The state collection module 330 is used for the collaborative controller to control the leader of the multi-agent to perform survey work based on the leader control protocol, control the non-leader of the multi-agent to perform survey work based on the control protocol, and collect the state information of each multi-agent through the state observer;

[0182] A task optimization module 340 is used to coordinate the controller to optimize the task allocation and path planning of the leader and non-leader according to the state information;

[0183] The system verification module 350 is used to collect the optimized state information of each multi-agent through the state observer, and verify the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the optimized state information.

[0184] In one embodiment, the state space model construction module 310 is also used to collect the state vector of each intelligent agent and determine the control input vector and output vector of each intelligent agent; obtain the switching signal between each intelligent agent, and determine the system matrix of the complex seabed terrain switching multi-agent survey system; based on the state vector, control input vector, output vector, switching signal, and system matrix, construct a state space model.

[0185] In one embodiment, the task optimization module 340 is also used to use the collaborative controller to determine the collaborative control strategy according to the state information, and use the linear programming technology based on the collaborative control strategy to plan the path of each intelligent agent; the collaborative controller adjusts the task allocation of the leader and non-leader based on the collaborative control strategy, and plans the survey path of the leader and non-leader based on the linear programming method.

[0186] In one embodiment, the state space model includes a first state space model in which a leader performs survey work, and a second state space model in which a non-leader performs survey work; the complex seabed terrain switching multi-agent survey system includes a leader system in which a leader performs survey, and a non-leader system in which a non-leader performs survey.

[0187] In one embodiment, the system verification module 350 is also used to verify the leader system and the non-leader system respectively according to the optimized state information using matrix decomposition and co-positive Lyapunov function to obtain verification results; and determine the positivity and consistency of the complex seabed terrain switching multi-agent survey system according to the verification results.

[0188] In one embodiment, the system verification module 350 is further used to respectively set operating conditions for the leader system and the non-leader system to operate smoothly; and to respectively verify the positivity and consistency of the leader system and the non-leader system based on the operating conditions.

[0189] In one embodiment, the state acquisition module 330 is also used to design a leader control protocol based on the leader in the multi-agent, and to design a control protocol based on the non-leader in the multi-agent; the leader control protocol is used to control the leader to perform surveying work; and the control protocol is used to control the non-leader to perform surveying work.

[0190] In one embodiment, a computer device is provided. The computer device may be a terminal, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a dual-observation collaborative control technology for a multi-agent survey system is implemented. The display screen of the computer device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device can be a touch layer covering the display screen, or a button, trackball or touchpad set on the computer device housing, or an external keyboard, touchpad or mouse, etc.

[0191] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0192] In one embodiment, a computer device is provided, including a memory and a processor, wherein a computer program is stored in the memory, and when the processor executes the computer program, steps of a dual-observation cooperative control technology for a multi-agent survey system are implemented.

[0193] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the steps of a dual-observation cooperative control technology for a multi-agent survey system are implemented.

[0194] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned technologies. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0195] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0196] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the invention patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A dual-observation cooperative control technology for a multi-agent survey system, characterized in that: The techniques include: Construct a state space model of a complex seafloor terrain switching multi-agent survey system; Simulating an exogenous disturbance signal in the state space model, and monitoring and collecting exogenous disturbance information through a disturbance observer and sending the information to a collaborative controller; The collaborative controller controls the leader of the multi-agent to perform survey work based on the leader control protocol, controls the non-leader of the multi-agent to perform survey work based on the control protocol, and collects the state information of each multi-agent through the state observer; The collaborative controller optimizes the task allocation and path planning of the leader and non-leader according to the state information; The optimized state information of each multi-agent is collected by the state observer, and the positivity and consistency of the complex seabed terrain switching multi-agent survey system are verified based on the optimized state information.

2. The dual-observation cooperative control technology for a multi-agent survey system according to claim 1 is characterized in that: Construct a state space model of a complex seabed terrain switching multi-agent survey system, including: Collect the state vector of each intelligent agent and determine the control input vector and output vector of each intelligent agent; Obtain the switching signals between each agent and determine the system matrix of the complex seabed terrain switching multi-agent survey system; A state space model is constructed based on the state vector, control input vector, output vector, switching signal, and system matrix.

3. The dual-observation cooperative control technology for a multi-agent survey system according to claim 1, characterized in that: The collaborative controller optimizes the task allocation and path planning of the leader and the non-leader according to the state information, including: The collaborative controller determines a collaborative control strategy according to the state information, and performs path planning for each intelligent agent using a linear programming method based on the collaborative control strategy; The collaborative controller allocates and adjusts the tasks of the leader and the non-leader based on the collaborative control strategy, and plans the survey paths of the leader and the non-leader based on the linear programming method.

4. The dual-observation cooperative control technology for a multi-agent survey system according to claim 1, characterized in that: The state space model includes a first state space model in which the leader performs surveying work, and a second state space model in which the non-leader performs surveying work; The complex seabed terrain switching multi-agent survey system includes a leader system for the leader to conduct surveys, and a non-leader system for the non-leader to conduct surveys.

5. The dual-observation cooperative control technology for a multi-agent survey system according to claim 4 is characterized in that: Verify the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the optimized state information, including: According to the optimized state information, matrix decomposition and Yu Zheng Lyapunov function are used to verify the leader system and the non-leader system respectively to obtain verification results; The positivity and consistency of the complex seabed terrain switching multi-agent survey system are determined based on the verification results.

6. The dual-observation cooperative control technology for a multi-agent survey system according to claim 4, characterized in that: The technology also includes: respectively setting operating conditions for the leader system and the non-leader system to operate smoothly; The positivity and consistency of the leader system and the non-leader system are verified respectively based on the operating conditions.

7. The dual-observation cooperative control technology for a multi-agent survey system according to claim 1, characterized in that: The technology also includes: Design a leader control protocol based on the leader in the multi-agent, and design a control protocol based on the non-leader in the multi-agent; The leader control protocol is used to control the leader to perform surveying work; the control protocol is used to control the non-leader to perform surveying work.

8. A dual-observation cooperative control technology for a multi-agent survey system, characterized in that: The techniques include: The state space model building module is used to build the state space model of the complex seabed terrain switching multi-agent survey system; A disturbance simulation module, used for simulating an exogenous disturbance signal in the state space model, and monitoring and collecting the exogenous disturbance information through a disturbance observer and sending it to the collaborative controller; A state acquisition module, which is used for the collaborative controller to control the leader of the multi-agent to perform survey work based on the leader control protocol, control the non-leader of the multi-agent to perform survey work based on the control protocol, and collect the state information of each multi-agent through the state observer; A task optimization module, used for the collaborative controller to optimize the task allocation and path planning of the leader and non-leader according to the state information; The system verification module is used to collect the optimized state information of each multi-agent through the state observer, and verify the positivity and consistency of the complex seabed terrain switching multi-agent survey system based on the optimized state information.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the steps of the technology described in any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the technology described in any one of claims 1 to 7 are implemented.

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