CN107367944A - A kind of cluster control method towards multi-agent system - Google Patents
A kind of cluster control method towards multi-agent system Download PDFInfo
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- CN107367944A CN107367944A CN201710783364.5A CN201710783364A CN107367944A CN 107367944 A CN107367944 A CN 107367944A CN 201710783364 A CN201710783364 A CN 201710783364A CN 107367944 A CN107367944 A CN 107367944A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
Abstract
The present invention equips formed complication system towards by multiple intelligence, a kind of reliable, effective method is proposed to solve the problems, such as multi-agent system cluster collaboration, hidden danger is collided without equipment in running, has important application prospect in industry, agricultural, military aspect.This method relies on simple rule and local communication, designs the Synergistic method being made up of uniformity and Artificial Potential Field Method, can effectively reappear the Aggregation behaviour of social animal in nature.Present invention proposition equips cluster by a large amount of low costs, speed intelligence that is fast, adaptable, being easy to carry about with one and project, to substitute the single intelligence equipment of high-performance, high cost, high technology content.The predominance of intelligence equipment cluster is effectively reduce task time, realizes bigger space covering, lower cost consumption and stronger flexibility, robustness, scalability.Especially suitable for time or space requirement higher task.
Description
Technical field
The present invention equips formed complication systems towards by multiple intelligence, including be made up of land equipment system, by
System that underwater kit is formed, by equipping the system formed in the air, or equipped by wherein two or more form it is complicated different
A kind of construction system, there is provided reliable, effective Synergistic method so that system can appear similar to flock of birds, the shoal of fish, bee colony etc.
The cluster agreement of social animal, there is important application prospect in industry, agricultural, military aspect.
Background technology
Military affairs are strong, then Guoqiang.Even in peacetime, national military power is also to weigh a national overall national strength
Key factor.To maintain the international status of country, substantial amounts of military expenditure expense makes government's funds be critical, sought therefore, the military needs badly
A kind of inexpensive, dynamical mode of operation, substitutes high-performance, high cost, the single weaponry of high technology content.
The gregarious biological collective behaviour such as bee colony, flock of birds, shoal of fish inspires in by nature, a kind of brand-new operation of being born
Pattern, it is referred to as cluster fight.Cluster fight refers to by a large amount of low costs, speed is fast, it is adaptable, be easy to carry about with one and throw
The intelligence equipment penetrated forms the advantage of scale, so as to obtain the initiative of war.Cluster fight has higher efficiency and cost excellent
Gesture, it is expected to that the following trump card for tackling state-of-the-art military defense system in the world can be turned into.
With it is single equipment compared with, cluster equipment predominance allow it effectively reduce task time, realize it is bigger
Space covering, lower cost consumption and stronger robustness.The advantage causes the constellation effect intelligently equipped on a large scale
There are potential huge applications to be worth in fields such as agricultural, industry, military affairs, particularly higher to time or space requirement appoints
Business, such as the survivor after disaster is found within the most short time, the exploration of designated area is completed within the most short time
Etc..
Based on multiple agent cluster collaboration important research value, in recent years, from biology, physics, computer, mathematics and
Collective behaviour of the scholar in the fields such as control all to nature generates dense research interest, goes to explore from corresponding field respectively
Colonization Producing reason and engineer applied.Biologist have been found that the collective behaviour of animal be its migrate, prey on or
Hide used a kind of pattern of risk averse during enemy, can describe and explain most of biological colonies coordinate behaviors and
Self organization phenomenon.Colonization refers to that the individual in biota only relies on local sensing effect and simple rule of communication is independently determined
Determine its motion state, and the global behavior of collaboration is emerged from simple local rule.This thousands of unicellular lower eukaryote
Purposive collective motion remains the advanced motion ability that scientific and technological circle and academia generally acknowledge so far.Therefore, how to design logical
Letter rule and Synergistic method so that scattered, mixed and disorderly unmanned systems emerge desired concentrating type global behavior, turn into numerous
The focus of scholar's research.
Swarm as a kind of cluster strategy, the importance of more emphasis on location collaboration, finally realize all individual speed arrows
Measure consistent and mutual distance and keep stable（Form stable compact formation or geometry formation）.Swarm and be common in nature
In the unicellular lower eukaryote on boundary, such as bee colony, flock of birds, the shoal of fish, there is good environmental suitability, robustness, dispersiveness and self-organizing
The features such as property.Present invention strategy of swarming of social animal from nature is started with, and extracts Biological Mechanism therein, design can work
Cheng Shixian and rule of communication and Synergistic method with excellent extensibility, solve swarm collaboration of the intelligence equipment in three dimensions
Control problem.
Although Complex System Theory is quickly grown, scientific achievement is a lot.But simple single order or second order are directed to mostly
Integrator model, the physics constraint of actual unmanned equipment is not considered.The present invention proposes a kind of effective solution method,
For specific unmanned equipment, communication mechanism and Synergistic method corresponding to design, the Aggregation behaviour of the unmanned equipment of realization.In order to more
Good has universality, and the present invention is for the Aggregation behaviour design collaboration method in three dimensions.With common unmanned vehicle
Physical model exemplified by, illustrate the mentality of designing of the Synergistic method.In addition, safety problem in the development intelligently equipped always
Paid close attention to, the present invention it is also proposed a kind of effective solution method for the conflict-free problem between intelligence equipment, it is ensured that
Intelligent equipment safety operation.It is important to note that proposed by the present invention is a kind of cluster Research on Interactive Problem for considering collision prevention
Solution method, it can design corresponding communication and synergistic mechanism in the method for different physical models, it is not limited to
A certain intelligence equipment.This method is with good expansibility, and the system that can be formed from several multiple agents, is generalized to big rule
The complication system that mould multiple agent is formed.In addition, this method also has good robustness, in the process of running some or
The disappearance of several multiple agents can't influence the completion of whole system task.
The content of the invention
In view of the above-mentioned problems, it is an object of the invention to provide a kind of communication mechanism and cooperative control method, in running
The hidden danger for not having occurrence of equipment to collide, various intelligence equipments are widely portable to, for reappearing the collection of social animal in nature
Group's agreement, and be further generalized in various agriculturals, industry, Military Application.
To achieve the above object, the present invention uses following technical scheme.
The intelligence equipment has limited communication function.Correspondence between intelligence equipment forms the logical of intelligence system
Communication network.It is generally acknowledged that the communication capacity intelligently equipped mainly is limited by distance, that is, intelligence equipment can only communicate with it
Intelligent body in radius is communicated.Intelligent body in the range of the intelligence equipment communication radius is referred to as intelligence dress
Standby neighbours.Each behavior intelligently equipped is determined by the behavior state of its neighbour.But the different neighbours intelligently equipped, to this
The influence degree of intelligence equipment behavior is different, and it is bigger that influence of the nearer neighbours to its behavior is intelligently equipped apart from this.In addition, institute
It is connection that multi-agent system, which is stated, in the communication network of initial time.Due in collaborative processes, the distance between intelligence equipment
Change, the communication network is it can also happen that switching（Switching refers to that the communication network changes）.In order to ensure institute
Stating the connectedness of multi-agent system communication network can keep, and magnetic hysteresis rule is introduced when network switching.
Based on above-mentioned rule of communication, according to biological cluster strategy, design collaboration control protocol.The shoal of fish in nature is often
Show a kind of distributed coodination modes.Usually not pilotage people in colony, and each individual Independent Decisiveness speed of oneself
Rate and direction.Biologist has found that attraction/repulsive force between the Aggregation behaviour and individual of the shoal of fish is closely related.Attraction between fish
Power is the long range active force of view-based access control model, but repulsive force is the short distance active force perceived based on fish body side line.In colony
The behavior of fish is determined by attraction and repulsive force collective effect.Biologically generally will be corresponding when attraction and equal repulsive force
This unique distance be referred to as " equilibrium distance ".By its wide-angle vision and sensitive side line mechanism, individual speed in the shoal of fish
Rate and direction all have the synchronism of height, i.e. individual adjusts their speed and direction according to the behavior of neighbours.Therefore, I
Need to build a feedback mechanism, such as consistency algorithm based on the difference between individual and neighbours.Therefore, the present invention carries
Go out a kind of combination uniformity and Artificial Potential Field Method to solve the cluster Research on Interactive Problem of complicated multi-agent system.
The cooperation protocol is made up of two parts, and Part I is consistent item, mainly causes institute using consistency algorithm
There is intelligence equipment at a same speed and attitude motion.Part II is Artificial Potential Field item, passes through the negative ladder of attraction/repulsion function
Spend to influence the relative position between intelligently being equipped in colony, to reach conflict collision prevention, connective holding and desired formation control
The purpose of system.
The agreement pertains only to backfence relative position, relative attitude and relative speed.Therefore, as long as that intelligently equips works as
Had differences between preceding state and expectation state, above-mentioned control protocol can play a role always, no matter this difference is by intelligence
Equip caused by the motion of itself or caused by extraneous uncertain noises.Therefore this method has good fault-tolerant and anti-interference energy
Power.In addition, in system indivedual intelligent bodies failure, the realization of whole system final goal can't be influenceed, therefore this method is also
With good robustness.For a multi-agent system, because each intelligent body is only communicated with its neighbour, often
The amount of calculation and communication pressure of individual intelligent body will not increase because of the increase of system scale, therefore this method is equipped to each intelligence
The hardware requirement of itself is limited, while is also easily extended to the situation of extensive multiagent system cluster.These characteristics cause
Method is stated as an effective and practical method for being applied to more intelligence and equipping cluster or formation control.
Brief description of the drawings
MATLAB simulating, verifyings are carried out by taking 10 frame unmanned planes as an example.The position of 10 frame unmanned planes and attitude information are all random
Provide, but meet that initial communication network is the condition of connected graph.The span of unmanned plane is 9.45 meters, that is to say, that unmanned plane it
Between safe distance be 9.45 meters.
In Fig. 1, asterisk represents the initial position of 10 frame unmanned planes, and ball represents position of the 10 frame unmanned planes at the end of emulation
Put.Fig. 1 gives 10 frame unmanned planes in cooperation protocol（3）Under trail change figure, every curve represents the rail of a frame unmanned plane
Mark.As can be seen that 10 frame unmanned planes gradually form the close column to compact.
Fig. 2 gives the situation that the distance between 10 frame unmanned planes change over time, every curve represent certain two frame nobody
The distance between machine.As can be seen that the distance between unmanned plane progressivelyes reach stabilization, and can keep.This represents above-mentioned
The close column to compact can be kept.And the spacing between unmanned plane is more than 20 meters, represents and do not collide between unmanned plane.
The roll angle that Fig. 3 gives 10 frame unmanned planes progressivelyes reach consistent situation with the time, and every curve represents a frame
Unmanned plane.
The angle of pitch that Fig. 4 gives 10 frame unmanned planes progressivelyes reach consistent situation with the time, and every curve represents a frame
Unmanned plane.
The yaw angle that Fig. 5 gives 10 frame unmanned planes progressivelyes reach consistent situation with the time, and every curve represents a frame
Unmanned plane.
Fig. 6 gives 10 frame unmanned planes and existedThe velocity component of axle progressivelyes reach consistent situation, every curve generation with the time
The frame unmanned plane of table one.
Fig. 7 gives 10 frame unmanned planes and existedThe velocity component of axle progressivelyes reach consistent situation, every curve with the time
Represent a frame unmanned plane.
Fig. 8 gives 10 frame unmanned planes and existedThe velocity component of axle progressivelyes reach consistent situation, every curve generation with the time
The frame unmanned plane of table one.
The angular velocity in roll that Fig. 9 gives 10 frame unmanned planes progressivelyes reach consistent situation with the time, and every curve represents
One frame unmanned plane.
The rate of pitch that Figure 10 gives 10 frame unmanned planes progressivelyes reach consistent situation with the time, and every curve represents
One frame unmanned plane.
The yaw rate that Figure 11 gives 10 frame unmanned planes progressivelyes reach consistent situation with the time, and every curve represents
One frame unmanned plane.
Embodiment
By taking the cluster collaboration of common aerial unmanned equipment as an example, the method for solving the collaboration of unmanned systems cluster is provided, altogether bag
Three steps are designed containing unmanned plane modeling, Communication mechanism designed, cluster cooperation protocol.Unless stated otherwise, all variables below
All it is time-varying.
The first step, unmanned plane modeling.
Refer here to two coordinate systems.Earth axes are using ground certain point as origin, and a direction is in ground level
Axle,Direction of principal axis points to the earth's core,The direction of axle can obtain according to the right-hand rule.Body axis system be then using unmanned plane barycenter as
Origin,Direction of principal axis points to unmanned chain-drive section,Direction of principal axis points to unmanned aerial vehicle body right,Direction of principal axis is determined also according to the right hand
Then learn.
Assuming that the unmanned systems shareFrame unmanned plane.Each unmanned plane is regarded as a spheroid, it is assumed that unmanned plane
Between minimum safe distance be.Under earth axes, unmanned planeKinematics model it is as follows：
(1)
Wherein,Represent unmanned planePosition coordinates,Represent unmanned planeRoll angle,Represent unmanned planeBow
The elevation angle,Represent unmanned planeYaw angle,Represent unmanned planeIn body axis systemThe component of axle,Represent unmanned plane
In body axis systemThe component of axle,Represent unmanned planeIn body axis systemThe component of axle,Represent unmanned planeRolling
Tarnsition velocity,Represent unmanned planeRate of pitch,Represent unmanned planeYaw rate,Represent unmanned plane's
Quality,Represent unmanned planeMass acceleration.Need exist for it is emphasized that unmanned planeQualityIt is time-varying.
With the reduction of unmanned plane fuel, unmanned planeQualityAlso correspondingly reduce.Role of delegate is in unmanned planeOn power
The component of axle,Role of delegate is in unmanned planeOn power existThe component of axle,Role of delegate is in unmanned planeOn power
The component of axle,Role of delegate is in unmanned planeOn rolling moment (roll torque),Role of delegate is in unmanned planeOn pitching moment (pitch torque),Role of delegate is in unmanned planeOn yawing (yaw torque).,,,,,,,,It is constant coefficient, it is defined as follows：
Wherein,,Represent unmanned plane The rotary inertia of axle,
Represent unmanned plane The rotary inertia of axle,Unmanned plane The rotary inertia of axle,
Represent unmanned planeThe product of inertia.
OrderRepresent unmanned planePosition vector,Represent unmanned planeSpeed to
Amount,Represent unmanned planeAttitude angle vector,Represent unmanned planeAttitude angular velocity to
Amount, then equation group（1）Following matrix form can be simplified to：
(2)
Wherein,,,,,,,,,。WithUnmanned plane is represented respectivelyPower and torque input.
Second step, communication mechanism.
Correspondence between unmanned plane is generally with including vertex setWith side collectionFigureTo represent, referred to as communicate
Network.Wherein the set of unmanned plane forms vertex set, the correspondence between unmanned plane forms the side of time-varying
Collection.If unmanned planeWithIt is neighbours, then can obtain。
The UAV Communication is limited in one's ability, is only communicated with its neighbour.It is generally acknowledged that the neighborhood and nobody
Distance dependent between machine.Provide unmanned planeIt is defined as follows in the neighborhood of initial time：
Wherein,Represent communication radius,Represent Euclidean distance.Here have an agreed terms, that is, think it is described nobody
The initial communication network of system is connected graph.Connected graph is the concept in graph theory, refers to any two summit in figure and all connects.
Because during the adjustment that is cooperateed with the unmanned systems cluster, the distance between the unmanned plane changes, from
And cause the communication network of the unmanned systemsAlso change therewith.It is mainly reflected in the communication networkSide
Collection changes, i.e., the correspondence between unmanned plane changes.Assuming that the communication network of the unmanned planeAt the momentSwitch, in order to keep the connectedness of unmanned systems communication network, introduce following magnetic hysteresis：
（1）IfAnd,It is given constant,, that
It can obtain, it is rightSet up；
（2）If, then it can obtain, it is rightSet up.Obviously, it is non-at each
Sky, bounded, continuous period,On,It is a fixed topology.
In order to preferably describe neighborhood, networkCoupling configuration can use following adjacency matrixTo represent：
。
Consider that the different neighbours of unmanned plane are different to the influence degree of its behavior.In modern communication technology, for unmanned plane
For, on the premise of ensureing not collide, the relative information such as neighbours' unmanned plane position for being obtained, posture, speed, distance
More near more reliable, delay is fewer, to unmanned planeThe influence of behavior is bigger, i.e., different neighbours are to unmanned planeInfluence and the neighbour
Occupy the distance dependent of unmanned plane.Therefore, a new parameter is introducedTo represent neighboursWithBetween coupling intensity.Its
It is defined as follows：
Wherein,It is a normal number.So,Adjacency matrix can be updated to
Wherein,And,。
And thenLaplacian MatrixFor
。
3rd step, the design of cluster cooperation protocol.
Based on above-mentioned motion model and communication mechanism, using obtained by unmanned plane self-sensor device and computing system nobody
Relative position, relative attitude and relative velocity between machine is as follows to design cluster cooperation protocol：
(3)
Wherein,Represent potential energy.It is defined as follows.
Potential energyIt is one and unmanned planeWithBetween distanceRelevant can be micro-, non-negative, radially unbounded
Function, meet following constraint：
（1）WhenWhen,；
（2）WhenWhen,；
（3）WhenTakeWithBetween a certain value when,Reach its unique minimum.
Total potential energy of UAS is all unmanned plane potential energy sums, i.e.,
。
For one byThe system that frame unmanned plane is formed, the kinetic characteristic of every frame unmanned plane meet（1）Constraint.Work as nothing
The initial network of man-machine systemFor connected graph when, the UAS is in control protocol（3）Under can be tied as follows
By：
（1）It will not be collided between any two framves unmanned plane, i.e.,,；
（2）The connectedness of the communication network of UAS can be always maintained at down；
（3）Unanimously, i.e., speed, attitude angle between unmanned plane all progressively reach,,,,,,,,,；
（4）During potential energy of system minimum, the UAS reaches stable, and a close column that is stable, compacting is presented,
I.e.For fixed value.
Claims (10)
1. a kind of cluster control method for being applicable to multi-agent system, its feature are：This method inspiration is derived from nature
Biological Aggregation behaviour in boundary；All intelligence equip equal, no pilotage people in colony；By simple rule and local letter
Breath, the motor behavior of each intelligence equipment Independent Decisiveness oneself, system may finally show the colonization of collaboration.
2. the multi-agent system include be made up of land equipment system, be made up of underwater kit system, by filling in the air
The standby system formed, or the complicated heterogeneous system formed is intelligently equipped by wherein two or more, its feature is：In system
All intelligence equip equal, no pilotage people；Ability of the intelligence equipment with local sensing and local communication in system, i.e.,
Each intelligent body is only communicated with the neighbours of oneself.
3. the neighbours are some individuals in the system limited according to certain constraints, neighbours' definition given here
For：Intelligent body in the range of initial time, the intelligence equipment communication radius is referred to as the neighbours intelligently equipped.
4. the local sensing ability refers to that intelligence equipment carries the sensor with certain perception so that it can be with straight
Connect or indirect mode obtains the information such as relative position, relative attitude and relative velocity between its neighbour.
5. the localized communication capability refers to that intelligence equipment is only communicated with its neighbour, based on local communication rule, it is
All intelligence equipments form a complicated communication network in system, and the communication network can be a handover network, but in net
Network needs to introduce magnetic hysteresis when switching, to ensure that the connectedness of communication network can keep.
6. the communication mechanism, because each intelligence equipment is only communicated with its neighbour, the amount of calculation each intelligently equipped and lead to
Letter pressure will not increase because of the increase of system scale, therefore the hardware requirement that the Synergistic method equips itself to intelligence is limited,
Also allow for expanding to large-scale multiagent system simultaneously.
7. the Synergistic method is simple in rule, totally two：First rule is obtained by the sensing mechanisms of unmanned equipment
The relative attitude and relative velocity of neighbours, and adjust its posture and speed accordingly so that the speed of unmanned equipment in system
Degree and posture all have the synchronism of height；This rule can be realized using coherence method；Second rule be according to
The distance between individual is adjusted by the attraction between unmanned equipment and repulsive force so that the distance between unmanned equipment
Reach balance（I.e. desired spacing）, the attraction is so that all unmanned equipments will not actively take off in whole collaborative processes
From system（Unless uncontrollable factor）, the repulsive force is derived from the security consideration between unmanned equipment, because of unmanned equipment
Between can not collide, the final distance for making a concerted effort to determine between unmanned equipment of attraction and repulsive force, this rule is available
Artificial Potential Field Method is realized.
8. the Synergistic method has good robustness,
The failure of indivedual intelligent bodies can't influence the realization of whole system final goal in system；The Synergistic method has good
Good fault-tolerant and antijamming capability, when being had differences between the current state intelligently equipped and its expectation state, the collaboration
Rule can play a role always, no matter this difference is as caused by intelligently equipping the motion of itself or extraneous uncertain noises
It is caused.
9. the behavior intelligently equipped is determined by the behavior state of its neighbour, but different neighbours intelligently equip behavior to this
Influence degree and distance dependent between the two；It is adjacent on the premise of ensureing that the intelligence equipment does not collide with its neighbour
Occupy that the distance that this is intelligently equipped is nearer, the influence degree for equipping behavior to the intelligence is bigger.
10. methods described is applied to the cluster collaboration of the multi-agent system of various scales, specified assemlby formation is also extended to
Formation control, it is effectively and practical.
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| CN113268076B (en) * | 2021-03-06 | 2022-10-04 | 南京航空航天大学 | Multi-unmanned aerial vehicle cluster formation cooperative control algorithm |
| CN113645317A (en) * | 2021-10-15 | 2021-11-12 | 中国科学院自动化研究所 | Loose cluster control method, device, equipment, medium and product |
| CN113645317B (en) * | 2021-10-15 | 2022-01-18 | 中国科学院自动化研究所 | Loose cluster control method, device, equipment, medium and product |
| CN114967730A (en) * | 2022-04-08 | 2022-08-30 | 大连海事大学 | Cross-domain cooperative control system of air-sea unmanned cluster |
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