摘要
多智能体编队机动控制技术是多智能体控制的一个重要子任务。该文提出了一种基于Shape Theory和Flocking的多智能体编队机动控制算法,该算法能够控制一组智能体在保持目标队形的情况下,顺利避开障碍物并到达目标位置。该算法根据可行路径设置相应的路径点和限制区域,使用基于Shape Theory的编队队形控制算法在每个限制区域中计算出满足目标队形约束的目标编队,再使用Flocking算法使智能体依次奔向这些目标位置。最后,通过仿真实验验证了该算法的有效性。
Multiagent formation maneuver control is an important sub-task of multiagent formation control.In this paper,a novel multiagent formation maneuver control algorithm are proposed based on Shape Theory and Flocking,which can control a group of agents to successfully avoid obstacles and reach the target position while maintaining the desired formation shape.The algorithm sets the corresponding path points and restricted areas according to the feasible path,and then uses the formation shape control algorithm based on shape theory to calculate the positions of target formation that satisfies the target formation constraints in each restricted area,and the Flocking algorithm is used to drive the agents to these target positions in turn.Finally,we validate the effectiveness of the algorithm through simulation.
作者
何嘉诚
姚其峰
代小林
宫大为
孙旭红
HE Jia-cheng;YAO Qi-feng;DAI Xiao-lin;GONG Da-wei;SUN Xu-hong(School of Mechanical and Electrical Engineering,University of Electronic Science and Technology of China,Chengdu 611731,China)
出处
《自动化与仪表》
2020年第5期26-30,共5页
Automation & Instrumentation
基金
国家自然科学基金项目(61603076,51305066)
国防预研基金项目(32102030508,32104060402,41426040104,41426050204,41426050601)。
作者简介
何嘉诚(1993—),男,硕士研究生,研究方向为多智能体编队控制、移动传感器网络;姚其峰(1965—),男,博士,高级工程师,研究方向为核反应堆一二回路系统净化技术;通讯作者:代小林(1978—),男,博士,副教授,研究方向为并联机构动力学与控制算法、移动机器人路径规划、智能控制算法。
