Zero-space behavior control dynamic task priority planning method for multi-agent system

Abstract

The invention relates to a zero-space behavior control dynamic task priority planning method for a multi-agent system, and the method comprises the steps: firstly, building a composite task through azero-space projection method; secondly, converting a dynamic task priority planning problem into a switching mode optimal control problem; and finally, solving the optimal control problem by applyinga mixed integer optimization method to obtain an optimal composite task trajectory. The method solves the problem of zero-space behavior control dynamic task priority planning of the multi-agent system, does not need to manually set task priority switching conditions, accordingly reduces the workload of researchers, has good expandability, and can be applied to large-quantity task priority dynamicplanning which is difficult to process by a traditional logic method. In addition, the prediction information of the future state of the intelligent agent is considered in the task priority switchingprocess, so the method has a more ideal switching effect compared with a traditional logic method.

Description

technical field [0001] The invention relates to the technical field of intelligent robots, in particular to a dynamic task priority planning method for zero-space behavior control of a multi-agent system. Background technique [0002] Because the multi-agent system has the characteristics of autonomy, fault tolerance, flexibility, scalability and cooperation ability, it is widely used in military and civil fields. As a typical multi-agent system, a multi-autonomous mobile robot usually needs to work in an unstructured environment, and needs to complete multiple tasks including moving along a preset trajectory, avoiding static and dynamic obstacles, and maintaining formation and gather etc. However, these tasks may conflict during execution, for example, an autonomous mobile robot cannot move along a preset trajectory and avoid obstacles appearing on the preset trajectory at the same time. [0003] Behavior control, as one of the methods to resolve task conflict, has been e...

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Problems solved by technology

[0005] In view of this, the present invention provides a multi-agent system zero-space behavior for the existing zero-space behavior control priority dynamic programming that requires humans to set priority switching rules in advance and is difficult to handle a large number of task priority dynamic programming. Control the dynamic task priority planning method, transform the task priority dynamic programming problem into an optimization problem, and obtain the optimal compound task trajectory by solving the optimization problem

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