Swarm Transport Formation Control With Pheromone Obstacle Avoidance
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Solution Overview
Problem
In multi-intelligent-agent cooperated transportation systems, obstacles often disrupt the formation of intelligent agents, leading to incomplete transportation tasks due to disorganization.
Innovation Solution
Establishing a transportation model with obstacle avoidance control using pheromones, where a leader intelligent agent acquires state information through a distributed observer and regulates the formation using an intelligent agent cooperation controller, enabling neighbor agents to jump the queue when obstacles are encountered.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If multi-intelligent-agent formation is used for cargo transportation, then transportation efficiency is improved, but the formation becomes disorganized when interfered by obstacles
Solution Approach 1:
The patent implements feedback mechanisms where intelligent agents continuously sense obstacle information and dynamically adjust their positions and velocities. The leader agent receives feedback about obstacles and communicates this information to follower agents, enabling real-time formation reconfiguration while maintaining overall organization and avoiding disorganization during obstacle encounters.
2Reliability
If obstacle avoidance control is implemented between intelligent agents, then collision avoidance is improved, but system complexity increases due to pheromone-based communication and control
Solution Approach 1:
The patent introduces pheromones as an intermediary communication mechanism between intelligent agents. Instead of direct complex inter-agent communication, agents release and sense pheromones to exchange obstacle and position information. This intermediary system simplifies the control architecture while enabling effective collision avoidance through chemical signal-based coordination.
Applied Scientific Principles
This section explains which scientific principles are used to turn an abstract innovation direction into a practical engineering solution.
Function Achieved in This Case
This approach allows intelligent agents to maintain formation and successfully complete transportation tasks even when obstacles are present by utilizing pheromone-based communication and control mechanisms.
Implementation Method 1
perform obstacle avoidance control between intelligent agents and neighbor intelligent agents based on pheromones of the intelligent agents themselves and the neighbor intelligent agents of the intelligent agents
Implementation Method 2
acquire, by a leader intelligent agent, state information of the leader intelligent agent by utilizing a distributed observer triggered based on self-pheromone release
Data Source
AI summary
The present disclosure relates to the field of swarm intelligence and provides a multi-intelligent-agent cooperated transportation method and system as well as a computer readable storage medium. The method includes: establishing a transportation model of a multi-intelligent-agent formation, and performing obstacle avoidance control between intelligent agents and neighbor intelligent agents based on pheromones of the intelligent agents themselves and the neighbor intelligent agents of the intelligent agents; acquiring, by a leader intelligent agent, state information of the leader intelligent agent by utilizing a distributed observer triggered based on self-pheromone release; regulating, by utilizing an intelligent agent cooperation controller triggered based on self-pheromone release, state information of the intelligent agents according to the state information of the leader intelligent agent; and enabling the neighbor intelligent agents of the intelligent agents to jump the queue to the multi-intelligent-agent formation according to the state information of the intelligent agents when obstacles are encountered.