CN105573306A - Formation method and device for multiple intelligent agents with blind areas - Google Patents

Abstract

The invention discloses a formation method and device for multiple intelligent agents with blind areas. The method comprises: setting a specific blind area for each intelligent agent of multiple intelligent agents; and according to a preset control law, allowing each intelligent agent to contribute to the formation of multiple intelligent agents in limited time through blind areas of intelligent agents having a communication relation with the intelligent agent, thereby reducing the traffic of the multiple intelligent agents. According to the invention, blind areas are provided, thereby effectively reducing the traffic of multiple intelligent agents, improving the communication reliability of multiple intelligent agents in a formation process, timely and effectively adjusting the self states of multiple intelligent agents in a formation process, and stabilizing a formation.

Description

A kind of formation method and device with multiple intelligent bodies of blind area

Technical field

The present invention relates to the formation field of intelligent body, particularly, relate to a kind of formation method and the device with multiple intelligent bodies of blind area.

Background technology

It is no matter the multi-agent system of fixed topology or time-varying topology structure, each intelligent body needs the moment to detect surrounding enviroment in motion process, the intelligent body corresponding to periphery according to Communication topology communicates, and adjusts the state of self according to certain control algolithm.Therefore, communication is the basis of multiple agent motion.

When the quantity of intelligent body is larger, communication network will inevitably produce a large amount of packets, and the subject matter brought thus is: one, a large amount of packets, by increasing the burden of network, makes it congested, the loss of packet can be caused under serious conditions, cause intelligent body and do the action made mistake.Two, a large amount of communication must increase the power consumption of intelligent body, because intelligent body is often through electromagnetic wave transmission signal.Three, a large amount of packets can increase the risk that intelligent body is listened.Four, a large amount of communication also will have influence on the expansion of system, because the bandwidth of network is limited.

Summary of the invention

The object of this invention is to provide a kind of formation method and the device with multiple intelligent bodies of blind area.Wherein, described method can reduce the traffic of multiple intelligent body effectively by introducing blind area, improve the communication reliability of multiple intelligent body in formation process, and then self the state of multiple intelligent body in formation process can also be adjusted timely and effectively, make formation keep stable.

To achieve these goals, the invention provides a kind of formation method with multiple intelligent bodies of blind area.Described method comprises: for each intelligent body setting in described multiple intelligent body belongs to the blind area of self; And according to the control law preset make described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body.

Alternatively, the topological structure of described multiple intelligent body is time-varying topology structure.

Alternatively, make according to the control law preset described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus before reducing the traffic of described multiple intelligent body, described method also comprises: make the radius of described blind area in the moment meet the following conditions:

R(t)>|x _j-(x _i+d _ij)|

Wherein, R (t) represents the radius of described blind area, and R (t) converges to zero, x in time _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, i, j ∈ 1,2 ..., n}, represent that described multiple intelligent body forms the stable time of forming into columns.

Alternatively, described default control law comprises:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\Σ}}{\stackrel{\‾}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\α}}$

Wherein, u _it () represents the control inputs of intelligent body i, i, j ∈ 1,2 ..., n}, represent the element in the adjacency matrix of described time-varying topology structure, x _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, α is constant, meets 0< α <1, sig (x) ^α=| x| ^αsign (x), sign () represent sign function, | x| represents the absolute value of real number x.

Alternatively, described method also comprises: when intelligent body is in the blind area of the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to disconnect to communicate to connect; Outside the blind area that described intelligent body is in the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to establish a communications link, makes described intelligent body enter the blind area of the intelligent body having correspondence with self.

Correspondingly, the present invention also provides a kind of formation device with multiple intelligent bodies of blind area.Described device comprises: setup unit, for belonging to the blind area of self for each intelligent body setting in described multiple intelligent body; And formation forming unit, for make according to the control law preset described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body.

Alternatively, the topological structure of described multiple intelligent body is time-varying topology structure.

Alternatively, described device also comprises: setting unit, is provided for the radius of described blind area in the moment meet the following conditions:

R(t)>|x _j-(x _i+d _ij)|

Wherein, R (t) represents the radius of described blind area, and R (t) converges to zero, x in time _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, i, j ∈ 1,2 ..., n}, represent that described multiple intelligent body forms the stable time of forming into columns.

Alternatively, described default control law comprises:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{\stackrel{\&OverBar;}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}$

Wherein, u _it () represents the control inputs of intelligent body i, i, j ∈ 1,2 ..., n}, represent the element in the adjacency matrix of described time-varying topology structure, x _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, α is constant, meets 0< α <1, sig (x) ^α=| x| ^αsign (x), sign () represent sign function, | x| represents the absolute value of real number x.

Alternatively, described formation forming unit, also for: when intelligent body is in the blind area of the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to disconnect to communicate to connect; Outside the blind area that described intelligent body is in the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to establish a communications link, makes described intelligent body enter the blind area of the intelligent body having correspondence with self.

By technique scheme, for each intelligent body setting in described multiple intelligent body belongs to the blind area of self; And according to the control law preset make described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body, significantly reduce the burden of multiple intelligent body in communication, improve the communication reliability of multiple intelligent body in formation process, and then self the state of multiple intelligent body in formation process can also be adjusted timely and effectively, make formation keep stable.

Accompanying drawing explanation

Fig. 1 is a kind of process flow diagram with the formation method of multiple intelligent bodies of blind area provided by the invention;

Fig. 2 is a kind of structural representation with the formation device of multiple intelligent bodies of blind area provided by the invention;

Fig. 3 is that to be positioned at intelligent body i be schematic diagram within the blind area that arranges of intelligent body j for intelligent body j that one embodiment of the invention provides;

Fig. 4 is that to be positioned at intelligent body i be schematic diagram outside the blind area that arranges of intelligent body j for intelligent body j that one embodiment of the invention provides;

Fig. 5 is formation and the Communication topology graph of a relation of 6 intelligent bodies expectation formation that one embodiment of the invention provides;

Fig. 6 is the movement locus figure of multiple agent when not adding blind area in one embodiment of the invention;

Fig. 7 is the movement locus figure of multiple agent when adding blind area in one embodiment of the invention;

Fig. 8 is initialization data form when not adding blind area in one embodiment of the invention and result data;

Fig. 9 is initialization data form when adding blind area in one embodiment of the invention and result data.

Embodiment

Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described in detail.Should be understood that, embodiment described herein, only for instruction and explanation of the present invention, is not limited to the present invention.

Introduce provided by the invention there is the formation method of multiple intelligent bodies of blind area before, first introduce concept related to the present invention and definition.

In the formation based on graph theory is studied, conventional non-directed graph represents multi-agent network topological structure.In general, non-directed graph G=(v, ε) is by non-NULL, limited set of node v={v ₁..., v _nhe Bianji composition, node on behalf intelligent body, while the undirected communication link representing between two intelligent bodies.Make I={1,2 ..., n} represents the label set of figure interior joint, A=[a _ij] be weight adjacency matrix in non-directed graph.To any i, j ∈ I, there is a _ij=a _ji>=0; If (v _i, v _j) ∈ ε, then a _ij=1; If then a _ij=0; A is had to any i ∈ I _ii=0.Node v _iadjacent member definition be N _i={ v _j∈ v:(v _i, v _j) ∈ ε.Connected graph is defined as follows: for any two different node v _iand v _j, there is a set { i ₁, i ₂..., i _m, wherein i ₁=i, i _m=j.This set defines one from v _ito v _jpath ${\mathrm{\&pi;}}_{i,j}=\{(v_{i_1},v_{i_2}),...,(v_{i_{m-1}},v_{i_m})\},$ Meet simultaneously $(v_{i_{k-1}},v_{i_k})\&Element;\mathrm{\&epsiv;}.$

With L (A)=[l _ij] ∈ R ^{n × n}be expressed as the Laplacian matrix of multiple agent non-directed graph G (A), be defined as follows:

$l_{ij}=\left\{\begin{array}{cc}\underset{k=1,k\&NotEqual;i}{\overset{n}{\&Sigma;}}{a}_{ik},& j=i\\ -a_{ij},& j\&NotEqual;i.\end{array}\right.---\left(1\right)$

L (A) has following characteristic:

(1) if G (A) is communicated with, so the eigenwert of L (A) meets:

0=λ ₁(L) < λ ₂(L)≤... ≤ λ _n(L), wherein λ ₂(L) algebraic connectivity of figure G is called.

(2) $x^{T}L\left(A\right)x={\mathrm{\&Sigma;}}_{i,j=1}^n{a}_{ij}{(x_j-x_i)}^2,$ L (A) is positive semidefinite matrix.

(3) algebraic connectivity of figure G, namely if therefore 1 ^tx=0, then x ^tl (A) x>=λ ₂(L) xTx.

To multiple agent position vector y ₁, y ₂y _n>=0,0<p≤1, following formula is set up

${\mathrm{\&Sigma;}}_{i=1}^n{y}_i^p\&GreaterEqual;{\left({\mathrm{\&Sigma;}}_{i=1}^n{y}_i\right)}^p---\left(2\right)$

If when considering the closed loop stability of multiple agent in the middle of non-Lipschitz Continuous Nonlinear Systems, $\stackrel{\&CenterDot;}{x}=f\left(x\right),f\left(0\right)=0,x\left(0\right)=x_0,x\&Element;R^n,$ If there is continuously differentiable function V (x): U → R, meet following condition:

(1) V (x) is positive definite function.

(2) there is real number k>0,0< α <1, and an open-neck collar territory comprising initial point so initial point is finite time stability, and the stabilization time of multiple agent closed-loop system depends on original state x ₀, meet T (x ₀)≤V ^1-α(x ₀)/k (1-α).

Suppose to there is constant c and limited function f (x), and meet relation 0≤f (x)≤c, if there is constant s>0, the traffic volume calculations so for multi-agent system has

$\frac{{\&Integral;}_0^{s}f\left(x\right)dx}{s}\&le;c.---\left(3\right)$

The condition that above formula equal sign is set up is: for arbitrary x ∈ [0, s], sets up f (x)=c.

Then, according to concept, the defined declaration principle of the present invention introduced.

The present invention gives a kind of formation method with multiple intelligent bodies of blind area.Core concept is, by design default control rule, makes multiple intelligent body form formation in finite time, thus reduces the traffic of multiple intelligent body.

Topological structure without multiple multiagent systems of communication blind district is:

${\stackrel{\&CenterDot;}{x}}_i\left(t\right)=u_i\left(t\right)---\left(4\right)$

Wherein, x _it () is the location status of intelligent body i, u _it () is corresponding control inputs, for x _ithe first differential of (t).

When the topological structure of multiple intelligent body is fixing, the control law that we set finite time formation is:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{a}_{ij}sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}---\left(5\right)$

Wherein, d _ijfor intelligent body j is relative to the desired displacement of intelligent body i, ai _jfor the element of adjacency matrix A, if there is correspondence in intelligent body i and intelligent body j, then a _ij=1, otherwise a _ij=0, α is constant, meets 0< α <1.

For these multiple multiagent systems without communication blind district, consider multiple multiagent systems with fixing Connected undigraph structure, control law (5) can ensure: for arbitrary i, j (i ≠ j), relative position vector between intelligent body j and intelligent body i is stable in finite time, is formed and forms into columns.The center perseverance of multiple intelligent body is:

$\stackrel{\&OverBar;}{x}={\mathrm{\&Sigma;}}_{i=1}^n{x}_i\left(0\right)/n---\left(6\right)$

Communication topology due to multiple multiagent system undirected and be communicated with, when appointment any two desired displacement with the intelligent body of correspondence be d _ijtime, determination flight pattern that can be unique, meanwhile, when the initial position of known smart body, can determine the center of multiple intelligent body uniquely.Like this, final formation and group position are all unique.

The adjacency matrix introducing the topological structure of multiple intelligent bodies of communication blind district is so this topological structure is time-varying topology structure.Accordingly, the control law arranged in this situation is:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{\stackrel{\&OverBar;}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}---\left(7\right)$

Wherein, a _ijthe communication weights for describing between intelligent body i and intelligent body j; b _ijt () is described as: when intelligent body i and intelligent body j is not all positioned at the blind area of the other side's setting, b _ij(t)=1; When intelligent body i and intelligent body j is all positioned at the blind area of the other side's setting, b _ij(t)=0.It should be noted that b _ij(t)=b _ji(t).

For the system of the plurality of intelligent body, there is the moment in blindarearadius R (t) and i, j ∈ 1,2 ..., n} makes R (t) >|x _j-(x _i+ d _ij) | and converge to zero in time, so formula (7) can make for arbitrary i, j (i ≠ j), and the relative position vector in system between intelligent body j and intelligent body i is stable in finite time, and forms formation.

Formation method under the application sets up non-blind area and introduces two kinds, blind area situation, by the stability of the multiple multiagent systems in discourse analysis two kinds of situations and the reduction of the traffic in the unit interval, illustrate that the traffic of the multiple multiagent systems after introducing blind area reduces, and multiple multiagent system can also keep stable.

Intelligent body communicates at every turn and sends m ∈ N ₊individual packet on network, and supposes that the stabilization time of multiple multiagent system is

At any time for the situation without communication blind district, the total number of communications of system is:

$c={\mathrm{\&Sigma;}}_{i=1}^n{\mathrm{\&Sigma;}}_{j=1}^n{a}_{ij}$

And for adding the situation of communication blind district, the number of communications total in t system is:

$\stackrel{\&OverBar;}{c}\left(t\right)={\mathrm{\&Sigma;}}_{i=1}^n{\mathrm{\&Sigma;}}_{j=1}^n{a}_{ij}\&times;b_{ij}\left(t\right)$

T at any time, has a _ij× b _ij(t)≤a _ij, so, be not difficult to obtain m ∈ N is only sent because intelligent body communicates at every turn ₊individual packet is on network, and so at moment t, the traffic adding multiple multiagent systems of communication blind district can be less than or equal to the traffic of the multiple multiagent systems without communication blind district, namely known according to formula (3):

$\frac{{\&Integral;}_0^{\stackrel{\&OverBar;}{t}}m\stackrel{\&OverBar;}{c}\left(t\right)dt}{\stackrel{\&OverBar;}{t}}\&le;mc.$

Above formula illustrates that the traffic of multiple multiagent systems within the unit interval adding communication blind district is less than or equal to the multiple multiagent systems without communication blind district.Introduce communication blind district, make system in finite time, reduce the traffic of multiple multiagent system within the unit interval, but also can lengthen the time of forming into columns and being formed to a certain extent, because the intelligent body paid close attention in communication blind district does not have action.

Based on above-mentioned analysis, the invention provides a kind of formation method with multiple intelligent bodies of blind area.Fig. 1 is a kind of process flow diagram with the formation method of multiple intelligent bodies of blind area provided by the invention.As shown in Figure 1, a kind of formation method with multiple intelligent bodies of blind area provided by the invention comprises: in step S101, for each intelligent body setting in described multiple intelligent body belongs to the blind area of self.Finally, in step s 102, according to the control law preset make described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body.By this, significantly reduce the burden of multiple intelligent body in communication, improve the communication reliability of multiple intelligent body in formation process, and then self the state of multiple intelligent body in formation process can also be adjusted timely and effectively, make formation keep stable.

Wherein, the topological structure of described multiple intelligent body is time-varying topology structure.

In concrete application, make according to the control law preset described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus before reducing the traffic of described multiple intelligent body, make the radius of described blind area in the moment meet the following conditions:

R(t)>|x _j-(x _i+d _ij)|

Wherein, R (t) represents the radius of described blind area, and R (t) converges to zero, x in time _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, i, j ∈ 1,2 ..., n}, represent that described multiple intelligent body forms the stable time of forming into columns.

Particularly, described default control law comprises:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{\stackrel{\&OverBar;}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}$

Wherein, u _it () represents the control inputs of intelligent body i, i, j ∈ 1,2 ..., n}, represent the element in the adjacency matrix of described time-varying topology structure, x _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, α is constant, meets 0< α <1, sig (x) ^α=| x| ^αsign (x), sign () represent sign function, | x| represents the absolute value of real number x.

More specifically, described method also comprises: when intelligent body is in the blind area of the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to disconnect to communicate to connect; Outside the blind area that described intelligent body is in the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to establish a communications link, makes described intelligent body enter the blind area of the intelligent body having correspondence with self.

Correspondingly, the present invention also provides a kind of formation device with multiple intelligent bodies of blind area.Fig. 2 is a kind of structural representation with the formation device of multiple intelligent bodies of blind area provided by the invention.As shown in Figure 2, a kind of formation device with multiple intelligent bodies of blind area provided by the invention comprises: setup unit 10, for belonging to the blind area of self for each intelligent body setting in described multiple intelligent body; And formation forming unit 20, for make according to the control law preset described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body.

Wherein, the topological structure of described multiple intelligent body is time-varying topology structure.

Alternatively, described device also comprises: setting unit 30, is provided for the radius of described blind area in the moment meet the following conditions:

R(t)>|x _j-(x _i+d _ij)|

Wherein, R (t) represents the radius of described blind area, and R (t) converges to zero, x in time _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, i, j ∈ 1,2 ..., n}, represent that described multiple intelligent body forms the stable time of forming into columns.

In a particular embodiment, described default control law comprises:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{\stackrel{\&OverBar;}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}$

Wherein, u _it () represents the control inputs of intelligent body i, i, j ∈ 1,2 ..., n}, represent the element in the adjacency matrix of described time-varying topology structure, x _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, α is constant, meets 0< α <1, sig (x) ^α=| x| ^αsign (x), sign () represent sign function, | x| represents the absolute value of real number x.

In concrete application, described formation forming unit 20, also for: when intelligent body is in the blind area of the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to disconnect to communicate to connect; Outside the blind area that described intelligent body is in the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to establish a communications link, makes described intelligent body enter the blind area of the intelligent body having correspondence with self.

It should be noted that, the detail that the formation device with multiple intelligent bodies of blind area provided by the invention is also related to provided by the invention have in the formation method of multiple intelligent bodies of blind area be described in detail, do not repeating at this.

Fig. 3 is that to be positioned at intelligent body i be schematic diagram within the blind area that arranges of intelligent body j for intelligent body j that one embodiment of the invention provides.As shown in Figure 3, border circular areas is exactly intelligent body i is the blind area that intelligent body j constructs, and the center of circle arranging blind area is constantly equal to d relative to the displacement difference of intelligent body i _ij, circular radius is R.Intelligent body j is in the middle of the blind area that intelligent body i is its structure, then intelligent body j and intelligent body i can disconnect communication connection, now b _ij(t)=0.

Fig. 4 is that to be positioned at intelligent body i be schematic diagram outside the blind area that arranges of intelligent body j for intelligent body j that one embodiment of the invention provides.As shown in Figure 4, intelligent body j is in outside the blind area that intelligent body i is its structure, then intelligent body j and intelligent body i must establish a communications link, and makes intelligent body j enter in the middle of blind area, now, and b _ij(t)=1.

Provide the dynamic simulation program that achieves based on QT below in without communication blind district situation and have the current total traffic of system, traffic numerical value per second and the information such as stabilization time of forming into columns in the situation of communication blind district.

Fig. 5 is formation and the Communication topology graph of a relation of 6 intelligent bodies expectation formation that one embodiment of the invention provides.As shown in Figure 5,6 intelligent bodies carry out as shown in the figure at two dimensional surface formation.Wherein, the large triangle that intelligent body 1, intelligent body 2 and intelligent body 3 are formed is isosceles right triangle, intelligent body 1 is a=60 to the distance of intelligent body 4, intelligent body 4, intelligent body 5 and the position residing for intelligent body 6 are respectively the mid point on the limit of isosceles right triangle, antisymmetric matrix D=[d _ij] ∈ R ^{n × n}in element d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, so matrix D is expressed as follows:

$D=\left[\begin{array}{cccccc}0,0& 120,0& 60,60& 60,0& 90,30& 30,30\\ -120,0& 0,0& -60,60& -60,0& -30,30& -90,30\\ -60,-60& 60,-60& 0,0& 0,-60& 30,-30& -30,-30\\ -60,0& 60,0& 0,60& 0,0& 30,30& -30,30\\ -90,-30& 30,-30& -30,30& -30,-30& 0,0& -60,0\\ -30,-30& 90,-30& 30,30& 30,-30& 60,0& 0,0\end{array}\right]$

Wherein, the initial position of 6 intelligent bodies is respectively (-311 ,-200), (268 ,-250), (-100,134), (-149 ,-150), (140,10), (-200,-120), initial velocity, for being (0,0), arranges constant α=0.8.

Carry out the comparison of the system of multiple intelligent body in both cases, one is without communication blind district, and another kind introduces communication blind district.

Fig. 6 is the movement locus figure of multiple agent when not adding blind area in one embodiment of the invention.Fig. 7 is the movement locus figure of multiple agent when adding blind area in one embodiment of the invention.As shown in Figure 6, first time does not add communication blind district, and the movement locus of 6 intelligent bodies as shown in the figure, can be found out owing to not having communication blind district, and 6 intelligent bodies head direct for the position that oneself should be in motion process, and forms formation.As shown in Figure 7, introduce the movement locus of 6 intelligent bodies behind communication blind district as shown in the figure, the movement locus of 6 intelligent bodies is compared Fig. 6 and is seemed tortuous a lot, its main cause is owing to introducing communication blind district, the intelligent body treaded in communication blind district is disconnected communicate, thus do not produce corresponding control caused by output.Wherein, horizontal ordinate represents X-axis, and ordinate represents Y-axis.

From the result data shown based on QT Dynamic Simulation Software, Fig. 8 shows in one embodiment of the invention initialization data form when not adding communication blind district and result data.As shown in Figure 8, the time of emulation first time is 2.13s, and system communication number of times is 6390 times, and unit interval (1s) interior number of communications is 3000 times.Fig. 9 is initialization data form when adding communication blind district in one embodiment of the invention and result data.As shown in Figure 9, second time simulation time is 2.69s, system communication number of times is 5036, number of communications in unit interval (1s) is 1872.12 times, add communication blind district visible after, although the time of system stability increases, but the number of times of the communication in the unit interval (1s) decreases 37.6% fully, significantly reduce the burden of system in communication.

The invention provides a kind of formation method with multiple intelligent bodies of blind area.In concrete application, first set up fixing multiple agent topological structure, on this fixing topological structure, then build the multiple agent finite time formation method under non-blind area, the traffic in the situation of statistics non-blind area.Then according to the finite time formation method under the multiple agent under non-blind area, improving the method, by setting certain specific condition, namely introducing the concept of blind area.When the multiple agent in system treads in blind area, two multiple agents disconnect communication, two multiple agents only outside blind area just can communicate, and the traffic in the situation of statistics introducing blind area, both are found more afterwards introducing blind area can reduce the traffic effectively, improve the communication reliability of multi-agent system in formation process, and then effectively can adjust self the state of multiple agent in formation process in time, make system keep stable.

Below the preferred embodiment of the present invention is described in detail by reference to the accompanying drawings; but; the present invention is not limited to the detail in above-mentioned embodiment; within the scope of technical conceive of the present invention; can carry out multiple simple variant to technical scheme of the present invention, these simple variant all belong to protection scope of the present invention.

It should be noted that in addition, each concrete technical characteristic described in above-mentioned embodiment, in reconcilable situation, can be combined by any suitable mode, in order to avoid unnecessary repetition, the present invention illustrates no longer separately to various possible array mode.

In addition, also can carry out combination in any between various different embodiment of the present invention, as long as it is without prejudice to thought of the present invention, it should be considered as content disclosed in this invention equally.

Claims (10)

1. have a formation method for multiple intelligent bodies of blind area, it is characterized in that, described method comprises:

For each intelligent body setting in described multiple intelligent body belongs to the blind area of self; And

According to the control law preset make described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body.

2. the formation method with multiple intelligent bodies of blind area according to claim 1, is characterized in that, the topological structure of described multiple intelligent body is time-varying topology structure.

3. the formation method with multiple intelligent bodies of blind area according to claim 2, it is characterized in that, make according to the control law preset described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus before reducing the traffic of described multiple intelligent body, described method also comprises:

Make the radius of described blind area in the moment meet the following conditions:

R(t)＞|x _j-(x _i+d _ij)|

Wherein, R (t) represents the radius of described blind area, and R (t) converges to zero, x in time _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, i, j ∈ 1,2 ..., n}, represent that described multiple intelligent body forms the stable time of forming into columns.

4. the formation method with multiple intelligent bodies of blind area according to claim 3, is characterized in that, described default control law comprises:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{\stackrel{\&OverBar;}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}$

Wherein, u _it () represents the control inputs of intelligent body i, i, j ∈ 1,2 ..., n}, represent the element in the adjacency matrix of described time-varying topology structure, x _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, α is constant, meets 0< α <1, sig (x) ^α=| x| ^αsign (x), sign () represent sign function, | x| represents the absolute value of real number x.

5. the formation method with multiple intelligent bodies of blind area according to claim 4, it is characterized in that, described method also comprises:

When intelligent body is in the blind area of the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to disconnect to communicate to connect;

Outside the blind area that described intelligent body is in the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to establish a communications link, makes described intelligent body enter the blind area of the intelligent body having correspondence with self.

6. have a formation device for multiple intelligent bodies of blind area, it is characterized in that, described device comprises:

Setup unit, for belonging to the blind area of self for each intelligent body setting in described multiple intelligent body; And

Formation forming unit, for make according to the control law preset described each intelligent body by with the blind area of intelligent body self having correspondence, to form the formation of described multiple intelligent body within the limited time, thus reduce the traffic of described multiple intelligent body.

7. the formation device with multiple intelligent bodies of blind area according to claim 6, is characterized in that, the topological structure of described multiple intelligent body is time-varying topology structure.

8. the formation device with multiple intelligent bodies of blind area according to claim 7, it is characterized in that, described device also comprises:

Setting unit, is provided for the radius of described blind area in the moment meet the following conditions:

R(t)＞|x _j-(x _i+d _ij)|

Wherein, R (t) represents the radius of described blind area, and R (t) converges to zero, x in time _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, i, j ∈ 1,2 ..., n}, represent that described multiple intelligent body forms the stable time of forming into columns.

9. the formation device with multiple intelligent bodies of blind area according to claim 8, is characterized in that, described default control law comprises:

$u_i\left(t\right)=\underset{j=1}{\overset{n}{\&Sigma;}}{\stackrel{\&OverBar;}{a}}_{ij}\left(t\right)sig{(x_j-x_i-d_{ij})}^{\mathrm{\&alpha;}}$

Wherein, ui (t) represents the control inputs of intelligent body i, i, j ∈ 1,2 ..., n}, represent the element in the adjacency matrix of described time-varying topology structure, x _irepresent the position vector of intelligent body i, x _jrepresent the position vector of intelligent body j, d _ijrepresent the desired displacement of intelligent body j relative to intelligent body i, α is constant, meets 0< α <1, sig (x) ^α=| x| ^αsign (x), sign () represent sign function, | x| represents the absolute value of real number x.

10. the formation device with multiple intelligent bodies of blind area according to claim 9, is characterized in that, described formation forming unit, also for:

When intelligent body is in the blind area of the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to disconnect to communicate to connect;

Outside the blind area that described intelligent body is in the intelligent body having correspondence with self, described intelligent body and self have the intelligent body of correspondence to establish a communications link, makes described intelligent body enter the blind area of the intelligent body having correspondence with self.