CN104281052A - Behavior based navigator-follower multi-agent formation control method - Google Patents
Behavior based navigator-follower multi-agent formation control method Download PDFInfo
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Abstract
The invention discloses a behavior based navigator-follower multi-agent formation control method. The behavior based navigator-follower multi-agent formation control method is characterized in that the multi-agent formation control method is a novel formation control method obtained by combining a behavioral method and a navigator-follower method and is suitable for distributed control, the whole team can be controlled by controlling one navigator, and the defect of formation failure caused after the navigators break down can be overcome to some extent by increasing candidate navigators.
Description
Technical field
The present invention is relevant with artificial intelligence and control subject, and along with the widespread use of multiple agent, its investigation and application is mainly reflected in the Collaborative Control of multiple agent, forms multiple agent and forms into columns; The present invention relates to a kind of pilotage people-follower's multiple agent formation control method of Behavior-based control, form multiple multiple agent formation fast and effectively.
Background technology
The formation control of multiple agent refers to the distance and bearing angle forming or reach expectation between intelligent body.The many application of multiple agent in land intelligent robot, autonomous underwater vehicle and spacecraft etc., the Collaborative Control problem between intelligent body is a unavoidable major issue.
A class control problem many to the research of multi-agent system is exactly formation control at present.Approach to formation control main at present has: 1) Artificial Potential Field Method, namely obtain corresponding formation by definition Artificial Potential Field, but it is single to there is formation, and different formations needs to define different Artificial Potential Field, and potential function is too complicated; 2) virtual architecture method, its shortcoming is the restriction that range of application is subject to the formation that virtual architecture method is formed to a great extent; 3) pilotage people-follower's method, large to the degree of dependence of pilotage people, once pilotage people's inefficacy can cause whole troop to be lost efficacy.4) Behavior-based control method, group behavior does not have clear and definite definition, carries out mathematical analysis very difficult to it.
Be different from other research method, Behavior-based control method and pilotage people-follower's method combine and obtain a kind of multiple agent approach to formation control by the present invention, are both applicable to distributed AC servo system, just can control whole troop again by control pilotage people.The method can make up by increasing candidate pilotage people the defect causing formation to lose efficacy after obstacle occurs pilotage people to a certain extent.
Summary of the invention
The present invention sets up the multiple agent approach to formation control of a kind of pilotage people-follower of Behavior-based control, and the method can be divided into two parts: first is that design comprises the basic acts such as head for target, formation formation, evolution and obstacle avoidance; Second is design corresponding controller respectively for several basic acts.
Ultimate principle of the present invention is as follows:
Pilotage people-follower's multiple agent approach to formation control of this Behavior-based control refers to the basic act of design intelligent body, and comprise head for target, formation maintenance, evolution and barrier and evade, concrete Behavior-Based control process illustrates as follows:
1.head for target behavior, the design of this behavior is mainly in order to make the troop of multiple agent all the time all towards target travel in the process of motion, and the equation of motion of multiple agent is
(1)
(2)
The final goal controlled is:
,
Control strategy is decided to be
(3)
(4)
Wherein
with
be given scale-up factor, formula (1) ~ (4) can obtain control variable and be
(5)
(6)
Consider
restriction, control variable is
(7)
(8)
2.formation keeps behavior, and the design of this behavior is to enable multiple agent finish the work, and needs to keep certain specific formation, and the state with reference to intelligent body is
, intelligent body
, relative to the relative parameter with reference to intelligent body be
, then
(9)
(10)
Wherein
for the sensing with reference to intelligent body,
for the sensing of intelligent body,
,
during formation requires respectively
relative to reference intelligent body
ideal distance and position angle, the final goal of control is:
(11)
(12)
In formula above before formula (11) and (12) being brought into, try to achieve control variable
(13)
(14)
Wherein
Consider equally
restriction, control variable is
(15)
(16)
3.obstacle avoidance behavior, in order to enable whole troop avoiding obstacles, should take into account the size of flight pattern and intelligent body in the position of formation, supposing
for the safe distance that single intelligent body can pass through, and the global safety distance that the multiple agent of task based access control is formed into columns:
, wherein
for formation width; The strategy keeping away barrier is: if before forming into columns, left front, is right frontly greater than with the minimum value of the distance of obstacle
, so the present invention allows intelligent body keep existing speed and sensing, and the control variable of system is
and
, otherwise speed reduces along with the reducing of spacing with barrier, and record the size of formation left front and the distance between right front and barrier, and user's two range differences decide turning velocity, and the control variable of system is
(17)
Wherein,
with
for given constant,
,
,
be respectively formation front, left front, distance between right front and barrier.
technique effect of the present invention:
The present invention is different from other in first research method, there is following features: Behavior-based control method and pilotage people-follower's method combine and to control the formation of multiple agent by the present invention, formed by design head for target, formation, the basic act such as evolution and obstacle avoidance, and the formation control to multiple agent is realized to the design that controller is carried out in each behavior.
Accompanying drawing illustrates:
Fig. 1 is the multiple agent line of wedge schematic diagram that the present invention provides;
The target-bound mathematical model of basic act that Fig. 2 designs for the present invention;
Fig. 3 is the mathematical model of the basic act formation maintenance that the present invention provides;
Fig. 4 is the process schematic that the present invention's six intelligent bodies form wedge shape formation;
Fig. 5 is the process that multiple agent formation that the present invention provides is changed from line of wedge to polygon formation;
Fig. 6 is the process of the multiple agent formation avoiding barrier that the present invention provides.
embodiment:
Present embodiment composition graphs 1-6 is specifically introduced the present invention:
One, the present invention proposes a kind of pilotage people-follower's multiple agent approach to formation control of Behavior-based control, and wherein Behavior-based control refers to the basic act of design intelligent body, comprises head for target, formation maintenance, evolution and barrier and evades; The present invention not only devises the basic act of intelligent body, also to lose efficacy due to pilotage people for pilotage people-follower's method and caused the defect of whole mission failure, devised candidate pilotage people, after pilotage people was lost efficacy, candidate pilotage people replaces the position of pilotage people, as shown in Figure 1.
Two, the calculating of head for target behavior, the design of this behavior is mainly in order to make the troop of multiple agent all the time all towards target travel in the process of motion, and the equation of motion of multiple agent is
(1)
(2)
The final goal controlled is:
,
Control strategy is decided to be
(3)
(4)
Wherein
with
be given scale-up factor, formula (1) ~ (4) can obtain control variable and be
(5)
(6)
Consider
restriction, control variable is
(7)
(8)
The model that figure 2 shows to impact point motion describes.
Three, formation keeps the calculating of behavior, and the design of this behavior is to enable multiple agent finish the work, and needs to keep certain specific formation, and shown in accompanying drawing 3, the state with reference to intelligent body is
, intelligent body
, relative to the relative parameter with reference to intelligent body be
, then
(9)
(10)
Wherein
for the sensing with reference to intelligent body,
for the sensing of intelligent body,
,
during formation requires respectively
relative to reference intelligent body
ideal distance and position angle, the final goal of control is:
(11)
(12)
In formula above before formula (11) and (12) being brought into, try to achieve control variable
(13)
(14)
Wherein
Consider equally
restriction, control variable is
(15)
(16)
The initial coordinate of pilotage people is [10,0], and the coordinate of candidate pilotage people is [5,0], and the coordinate of four follower is respectively [5,1], [5 ,-1], [0,1], [0 ,-1], the coordinate in final position is [1000,0], and the motion process of multiple agent is as shown in Figure 4.
Four, evolution, in order to adapt to the environment under different tasks, the geometric configuration that multi-agent system has to change self conforms, with guarantee troop safety or in order to form wider formation to obtain more environmental information (as shown in Figure 1), when run into current environment change need change formation time, evolution instruction is passed to other follower by pilotage people, follower determines the motion state at lower a moment according to the new formation in instruction and the position of self, Fig. 5 illustrates multiple agent by the process of line of wedge to polygon evolution.
five,obstacle avoidance, in order to enable whole troop avoiding obstacles, should take into account the size of flight pattern and intelligent body in the position of formation, supposing
for the safe distance that single intelligent body can pass through, and the global safety distance that the multiple agent of task based access control is formed into columns:
, wherein
for formation width; The strategy keeping away barrier is: if before forming into columns, left front, is right frontly greater than with the minimum value of the distance of obstacle
, so the present invention allows intelligent body keep existing speed and sensing, and the control variable of system is
and
, otherwise speed reduces along with the reducing of spacing with barrier, and record the size of formation left front and the distance between right front and barrier, and user's two range differences decide turning velocity, and the control variable of system is
(17)
Wherein,
with
for given constant,
,
,
be respectively formation front, left front, distance between right front and barrier. the process of what Fig. 6 represented is multiple agent avoiding barrier, after pilotage people detects barrier, in order to reduce the size of formation, evolution instruction is sent to other follower, and current formation is become polygon according to evolution order by troop, simultaneously, start obstacle avoidance behavior, when after troop's avoiding obstacles, formation is recovered instruction and is sent other follower by pilotage people, and formation returns to wedge-type shape.
Claims (6)
1. the present invention proposes a kind of pilotage people-follower's multiple agent approach to formation control of Behavior-based control, and wherein Behavior-based control refers to the basic act of design intelligent body, comprises head for target, formation maintenance, evolution and barrier and evades; Compared with pilotage people-follower's method, the present invention not only devises the basic act of intelligent body, and also losing efficacy due to pilotage people for pilotage people-follower's method causes the defect of whole mission failure, devises candidate pilotage people, after pilotage people was lost efficacy, candidate pilotage people replaced the position of pilotage people.
2. head for target behavior, the design of this behavior is mainly in order to make the troop of multiple agent all the time all towards target travel in the process of motion, and the equation of motion of multiple agent is
(1)
(2)
The final goal controlled is:
,
Control strategy is decided to be
(3)
(4)
Wherein
with
be given scale-up factor, formula (1) ~ (4) can obtain control variable and be
(5)
(6)
Consider
restriction, control variable is
(7)
(8)
Application of formula (7) and (8) can provide the control metric of head for target behavior effectively.
3. formation keeps, and the design of this behavior is to enable multiple agent finish the work, and needs to keep certain specific formation, and the state with reference to intelligent body is
, intelligent body
, relative to the relative parameter with reference to intelligent body be
, then
(9)
(10)
Wherein
for the sensing with reference to intelligent body,
for the sensing of intelligent body,
,
during formation requires respectively
relative to reference intelligent body
ideal distance and position angle, the final goal of control is:
(11)
(12)
In formula above before formula (11) and (12) being brought into, try to achieve control variable
(13)
(14)
Wherein
Consider equally
restriction, control variable is
(15)
(16)
Application of formula (15) and (16) can provide the control metric that formation keeps behavior effectively.
4. evolution, in order to adapt to the environment under different tasks, the geometric configuration that multi-agent system has to change self conforms, with guarantee troop safety or in order to form wider formation to obtain more environmental information, when run into current environment change need change formation time, evolution instruction is passed to other follower by pilotage people, and follower determines the motion state at lower a moment according to the new formation in instruction and the position of self.
5. obstacle avoidance, in order to enable whole troop avoiding obstacles, should take into account the size of flight pattern and intelligent body in the position of formation, supposing
for the safe distance that single intelligent body can pass through, and the global safety distance that the multiple agent of task based access control is formed into columns:
, wherein
for formation width.
6. the strategy keeping away barrier is: if before forming into columns, left front, is right frontly greater than with the minimum value of the distance of obstacle
, so the present invention allows intelligent body keep existing speed and sensing, and the control variable of system is
and
, otherwise speed reduces along with the reducing of spacing with barrier, and record the size of formation left front and the distance between right front and barrier, and user's two range differences decide turning velocity, and the control variable of system is
(17)
Wherein,
with
for given constant,
,
,
be respectively formation front, left front, distance between right front and barrier.
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Cited By (17)
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| CN105138044A (en) * | 2015-07-10 | 2015-12-09 | 北京印刷学院 | Fleet formation control device and formation control method based on information physical network |
| CN105159291A (en) * | 2015-07-10 | 2015-12-16 | 北京印刷学院 | Intelligent fleet obstacle avoiding device based on physical information network and obstacle avoiding method |
| CN106843262A (en) * | 2016-11-22 | 2017-06-13 | 上海卫星工程研究所 | The configuration design and control method of small feature loss defence Satellite Formation Flying |
| CN107065922A (en) * | 2017-02-14 | 2017-08-18 | 中国科学院自动化研究所 | Multiple no-manned plane formation formation method based on formation storehouse |
| CN107121986A (en) * | 2017-05-24 | 2017-09-01 | 浙江大学 | The method that a kind of unmanned plane flight pattern of Behavior-based control is kept |
| CN107168329A (en) * | 2017-06-20 | 2017-09-15 | 南京长峰航天电子科技有限公司 | Based on the speed of a ship or plane course Collaborative Control formation navigation control method for following pilotage people's method |
| CN107632614A (en) * | 2017-08-14 | 2018-01-26 | 广东技术师范学院 | A kind of multiple no-manned plane formation self-organizing cooperative control method theoretical based on rigidity figure |
| CN108107725A (en) * | 2017-12-05 | 2018-06-01 | 南京航空航天大学 | Second order time-vary delay system multi-agent system based on event triggering contains control method |
| CN108415425A (en) * | 2018-02-08 | 2018-08-17 | 东华大学 | It is a kind of that swarm algorithm is cooperateed with based on the Distributed Cluster robot for improving gene regulatory network |
| CN109270934A (en) * | 2018-11-01 | 2019-01-25 | 中国科学技术大学 | Multi-robot formation continuation of the journey method based on pilotage people's switching |
| CN109725532A (en) * | 2018-12-24 | 2019-05-07 | 杭州电子科技大学 | One kind being applied to relative distance control and adaptive corrective method between multiple agent |
| CN110162065A (en) * | 2019-06-18 | 2019-08-23 | 东北大学 | It is a kind of based on the oriented adaptive multiple agent formation control method followed |
| CN110398975A (en) * | 2019-09-04 | 2019-11-01 | 西北工业大学 | A kind of navigator's follower type multiple aircraft formation fault tolerant control method based on broadcast operation framework |
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| CN112558612A (en) * | 2020-12-15 | 2021-03-26 | 山东省科学院海洋仪器仪表研究所 | Heterogeneous intelligent agent formation control method based on cloud model quantum genetic algorithm |
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| CN105159291A (en) * | 2015-07-10 | 2015-12-16 | 北京印刷学院 | Intelligent fleet obstacle avoiding device based on physical information network and obstacle avoiding method |
| CN105138044B (en) * | 2015-07-10 | 2017-10-31 | 北京印刷学院 | A kind of fleet's formation control device and formation control method based on information physical net |
| CN105138044A (en) * | 2015-07-10 | 2015-12-09 | 北京印刷学院 | Fleet formation control device and formation control method based on information physical network |
| CN106843262A (en) * | 2016-11-22 | 2017-06-13 | 上海卫星工程研究所 | The configuration design and control method of small feature loss defence Satellite Formation Flying |
| CN106843262B (en) * | 2016-11-22 | 2019-08-23 | 上海卫星工程研究所 | The configuration design and control method of small feature loss defence Satellite Formation Flying |
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| CN110162065B (en) * | 2019-06-18 | 2021-11-19 | 东北大学 | Self-adaptive multi-agent formation control method based on directional following |
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