基于最小弱刚性的编队通信拓扑生成算法  

Formation Communication Topology Generation Algorithm Based on Minimum Weak Rigidity

作　　者：杨秀霞 严瑄 张毅 YANG Xiuxia;YAN Xuan;ZHANG Yi(Naval Aviation University,Yantai 264001,China)

机构地区：[1]海军航空大学,山东烟台264001

出　　处：《兵器装备工程学报》2021年第6期213-218,共6页Journal of Ordnance Equipment Engineering

基　　金：总装预研基金项目(6142055040203);山东省自然科学基金项目(ZR2020MF090)。

摘　　要：针对刚性编队的通信拓扑在编队控制中很难满足,研究了多智能体系统的最小弱刚性编队,给出了在二维和三维中最小弱刚性编队生成算法,该算法能最大程度减少维持编队队形所需的信息交互量。首先给出了最小弱刚性编队的判定条件,证明了在二维空间中一种生成树是最小弱刚性的,得到了二维空间中最小弱刚性编队生成算法,证明了在三维空间中通过删除最小刚性编队中的边可以得到最小弱刚性编队,由此得到了三维空间中最小弱刚性编队生成算法。最后,通过仿真验证了算法的有效性。Aiming at that the communication topology of rigid formation is difficult to satisfy in practical application,the minimum weak rigid formation of multi-agent system was studied,and the algorithm of minimum weak rigid formation generation in two-dimensional and three-dimensional was given.The algorithm can minimize the amount of information interaction needed to maintain formation.The judging condition of minimum weak rigidity formation was given.It is proved that a spanning tree in two-dimensional space is the minimum weak rigidity,thus the algorithm for generating the minimum weak rigid formation in the two-dimensional space was obtained.It is proved that the minimum weak rigid formation can be obtained by deleting the edges in the minimum rigid formation in three-dimensional space,and the algorithm for generating the minimum weak rigid formation in three-dimensional space is obtained.Finally,the effectiveness of the algorithm was verified by simulation.

关 键 词：刚性 弱刚性 多智能体编队 最小弱刚性 通信拓扑 

分 类 号：TJ273[兵器科学与技术—武器系统与运用工程]