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Multi-agent adaptive formation control method for avoiding collision and communication interruption

A multi-agent, communication interruption technology, applied in the direction of comprehensive factory control, 3D position/channel control, etc., can solve the problem of ignoring the collision avoidance of non-neighboring agents, limitations, etc., to reduce the communication burden, improve security, improve The effect of practicality and safety

Active Publication Date: 2022-04-08
BEIHANG UNIV
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  • Description
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Problems solved by technology

[0005] However, at present, there are many researches on collision avoidance in agent formations at home and abroad, but many of the research results cannot completely avoid the occurrence of collisions. Inter-collision problem; current research on connection maintenance is mostly limited to global connection maintenance, only requires the communication topology graph of the group to always have a minimum spanning tree during system operation, and allows communication interruption between some agents

Method used

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  • Multi-agent adaptive formation control method for avoiding collision and communication interruption
  • Multi-agent adaptive formation control method for avoiding collision and communication interruption
  • Multi-agent adaptive formation control method for avoiding collision and communication interruption

Examples

Experimental program
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Effect test

Embodiment 1

[0102] Using MATLAB software, the established multi-agent formation model and the designed adaptive controller are simulated. Pick one containing four is modeled as Formation of agents with x i,k ∈ R 2 ,k=1,2, Undirected graph such as figure 2 shown.

[0103] Let the ideal trajectory be y r (t)=[rcos(ωt) rsin(ωt)] T , where r=10m, ω=0.05rad / s, the initial state of each agent is shown in Table 1.

[0104] Table 1 initialization variables

[0105]

[0106] The control parameters and relative ideal positions of each agent are shown in Table 2:

[0107] Table 2 Other variables

[0108]

[0109] published to illustrate the invention and L ij The difference between the selection method and the existing results is explained through a group of controlled experiments. The first group below is selected according to the existing results and L ij , the second group is selected according to the method of the present invention and L ij .

[0110] Group 1: Sele...

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Abstract

The invention discloses a multi-agent adaptive formation control method for avoiding collision and communication interruption, and provides a method for selecting upper and lower bounds of a relative distance for a high-order uncertain system, and the relative distance is limited in a preset range based on a PPB method, so that collision or communication interruption between agents is avoided. A non-minimum rigid distributed formation is established by using an adaptive backstepping method, and all agents only need to acquire states of neighbors. Through the technical scheme of the invention, the problem of collision or communication interruption of the intelligent agents in the formation is avoided, and the purpose of improving the safety and reliability of the formation system is achieved.

Description

technical field [0001] The invention belongs to the technical field of multi-agent control, and in particular relates to a multi-agent adaptive formation control method for avoiding collision and communication interruption. Background technique [0002] Multi-agent systems have attracted more and more attention due to their wide application. In the case of a single agent with limited capabilities, it is feasible to accomplish complex tasks through the cooperation of multiple agents. Compared with single-agent cooperation, multi-agent cooperation has the advantages of strong robustness, wide application range and strong scalability. Formation control is an important branch and basic task in the field of multi-agents. It can be applied to many military and civilian fields such as coverage surveillance, security patrol, battlefield early warning, traffic safety, environmental exploration, and agricultural coverage tasks. [0003] However, most of the traditional formation cont...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/10
CPCY02P90/02
Inventor 王薇申佳军韩震吕金虎刘克新郑德智
Owner BEIHANG UNIV
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