Multi-agent controller and safety radius separation design method under communication uncertainty

A safety radius, multi-agent technology, applied in the general control system, adaptive control, comprehensive factory control, etc., to achieve the effect of avoiding conflicts

Active Publication Date: 2021-03-26
BEIHANG UNIV
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  • Application Information

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Problems solved by technology

It solves the collision avoidance problem of the multi-agent system, so that there are as many agents as possible in the same area at t

Method used

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  • Multi-agent controller and safety radius separation design method under communication uncertainty
  • Multi-agent controller and safety radius separation design method under communication uncertainty
  • Multi-agent controller and safety radius separation design method under communication uncertainty

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Embodiment Construction

[0064]The present invention provides a multi-intelligent body controller and a safety radius separation design method under unclean communication. A obstacle is evaded in an environment in an uncertainty in the communication network as an example, and the specific embodiment will be further described. The simulation and calculation process is performed on the MATLAB R2019B under the WIN7 Ultimate operating system on a computer, memory 16.0GB.

[0065]Such asFigure 7 As shown, the specific steps achieved by the present invention are as follows:

[0066]Step 1: Establish motion model, communication network model and safety radius model for intelligent body

[0067]First, set the relevant parameters of the intelligent body, obstacle and communication network environment. According to the actual situation, the number of intelligent body is set; the number of obstacles n; the maximum speed of the intelligent body is the maximum speed V.mThe maximum speed V of the obstacleo; Physical radius r of t...

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Abstract

The invention discloses a multi-agent controller and safety radius separation design method under communication uncertainty. The method comprises the following steps: step 1, establishing a motion model, a communication network model and a safety radius model for agents; 2, under ideal conditions and actual conditions, designing a controller of the intelligent agent meeting the performance; 3, inthe actual movement process, investigating the condition that the estimated safety distance is equal to the safety distance, and designing the lower bound of the safety radius in the actual movement process based on the condition. According to the invention, the controller design process only considers the target needing to be achieved under the ideal condition, and does not consider uncertainty compensation strategies of all communication networks; according to the method, the design work of the controller of the whole multi-agent system can be greatly simplified, the maximum capacity of theagents in the environment can be finally achieved as much as possible, meanwhile, all the agents can plan paths online, and tasks can be efficiently and safely completed.

Description

Technical field[0001]The present invention belongs to the field of intelligent body, and more particularly to a multi-intelligent controller and a safety radius separation design method under uncertain communication.Background technique[0002]Based on multi-intelligent system, research is in full swing, and the relevant results have been widely used in drone, no car, no ship cluster system. In the future, with the multi-intelligent system, the number of intelligent is continuously increased, and the conflict between the intelligent body is increasing, which has challenged the reliability and security of multi-intelligent system. At present, the relevant research based on multi-intelligent system has proposed different programs to achieve multi-intelligent online path planning through the intelligent self-sensor information and communication between intelligent body. Among them, the controller's design process not only considers the motion model of the intelligent body, but also consi...

Claims

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Application Information

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IPC IPC(8): G06F30/20G06F30/15G06F30/17G05B13/04G06F111/04
CPCG06F30/20G06F30/15G06F30/17G05B13/042G06F2111/04Y02T90/00
Inventor 全权付饶高岩毛鹏达蔡开元
Owner BEIHANG UNIV
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