多智能体系统的最优持久编队生成策略

罗小元; 杨帆; 李绍宝; 关新平

doi:10.3724/SP.J.1004.2014.01311

多智能体系统的最优持久编队生成策略

doi: 10.3724/SP.J.1004.2014.01311

1.
燕山大学电气工程学院秦皇岛 066004;
2.
香港城市大学机械及生物医学工程系香港;
3.
上海交通大学电子信息与电气工程学院上海 200240

基金项目:

国家重点基础研究发展计划（973计划）（2010CB731800），国家自然科学基金（61074065，61375105），河北省自然科学基金（F2012203119）资助

详细信息

作者简介:
杨帆燕山大学控制理论与控制工程专业硕士研究生. 2011 年于燕山大学获得学士学位. 主要研究方向为无线传感器网络控制，多智能体协调控制.E-mail：ffanyangy@163.com

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出版历程
- 收稿日期: 2013-07-01
- 修回日期: 2013-11-05
- 刊出日期: 2014-07-20

Generation of Optimally Persistent Formation for Multi-agent Systems

1.
Department of Electrical Engineering, Yanshan University, Qinhuangdao 066004;
2.
Department of Mechanical and Biomedical Engineering, City University of Hong Kong, Hong Kong;
3.
School of Electronic, Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240

Funds:

Supported by National Basic Research Program of China (973 Program) (2010CB731800), National Natural Science Foundation of China (61074065,61375105), and Natural Science Foundation of Hebei Province (F2012203119)

摘要

摘要: 针对二维空间中减少智能体间通信链路的能量消耗问题，提出了一种基于最优刚性编队的最优持久编队生成算法.算法提出了针对智能体连通度数目的有向化操作方法，通过层层缩减最小刚性图范围的方式生成最优持久图，这种方法能对任意最小刚性图进行持久化，从理论上证明了算法的可操作性.仿真结果验证了算法的有效性.
- 多智能体 /
- 最优刚性编队 /
- 最优持久编队 /
- 连通度
Abstract: In order to reduce the energy consumption problem between communication links of agents in a two-dimensional space, an algorithm to generate optimally persistent formation based on optimally rigid formation is presented in this paper. According to the number of communication links, a method is presented to make edges be directed edges. An optimally persistent formation is generated by reducing the range of the optimally rigid formation. The proposed method can change arbitrary optimally rigid formation to an optimally persistent formation. The feasibility is proved theoretically. Simulation results are presented to show the effectiveness of the proposed algorithm.
- Multi-agent system /
- optimally rigid formation /
- optimally persistent formation /
- number of communication links

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参考文献(21)

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