Cluster system formation obstacle avoidance control method

A technology of cluster system and control method, which is applied in the direction of three-dimensional position/channel control, etc., can solve the problems of inability to apply system time, discrete, etc., and achieve the effect of reducing the number of communications and reducing the frequency of communications

Pending Publication Date: 2021-11-09
BEIHANG UNIV
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Problems solved by technology

[0005] The purpose of the present invention is to solve the problem that the existing consensus-based cluster system formation control method cannot be applied to th...

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  • Cluster system formation obstacle avoidance control method
  • Cluster system formation obstacle avoidance control method
  • Cluster system formation obstacle avoidance control method

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Embodiment

[0072] Example: figure 1 It shows the flow chart of realizing the obstacle avoidance control method of the formation of the cluster system according to the embodiment of the present invention. refer to figure 1 , the cluster system formation obstacle avoidance control method of the embodiment of the present invention comprises the following steps:

[0073] S100. Construct a communication topology relationship of a target cluster system, where the target cluster system includes multiple agents;

[0074] S200. Constructing a single-agent discrete model;

[0075] S300. Construct a multi-agent discrete model based on the single-agent discrete model;

[0076] S400. Determine whether the target cluster system satisfies a predetermined time-varying formation condition based on the multi-agent discrete model;

[0077] S500. In response to the judgment result that the target cluster system satisfies a predetermined time-varying formation condition, specify a communication trigger c...

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Abstract

The invention discloses a cluster system formation obstacle avoidance control method. The method comprises the following steps: constructing a communication topological relation of a target cluster system comprising a plurality of agents; constructing a single agent discrete model; constructing a multi-agent discrete model based on the single-agent discrete model; judging whether the target cluster system meets a time-varying formation condition based on the multi-agent discrete model; if yes, giving a communication triggering condition of the single agent; constructing a time-varying formation control model based on the communication topological relation and the communication triggering condition; based on the time-varying formation control model, introducing an artificial potential field method to construct a time-varying formation obstacle avoidance control model; and performing formation obstacle avoidance control on the target cluster system based on the time-varying formation obstacle avoidance control model. According to the invention, the problem that an existing cluster system formation control method based on consistency cannot be applied to an actual system with discrete system time and obstacles in a task environment due to facing a continuous time system and an ideal task environment can be solved.

Description

technical field [0001] The invention belongs to the field of coordinated control of cluster systems, and more particularly relates to a control method for formation obstacle avoidance of cluster systems. Background technique [0002] Coordinated control of swarm systems is a hot topic in current swarm system research. Formation control, as one of the classic control problems, means that multiple agents in the swarm can form and maintain a specific formation shape during the process of moving towards a specific goal. At present, multi-agent formation control has been widely used in various unmanned intelligent systems such as space satellites, unmanned aerial vehicles, intelligent robots, and intelligent trains. In the field of aerospace, by launching multiple micro-satellites to form a specific formation, the role that only large satellites can play can be realized. The multi-satellite formation greatly reduces the system cost while improving the system's survivability and r...

Claims

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Application Information

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IPC IPC(8): G05D1/10
CPCG05D1/104
Inventor 韩亮严紫薇董希旺李清东任章
Owner BEIHANG UNIV
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