能耗均衡的三维最优持久编队通信拓扑生成  

Energy-balanced communication topology generation of three-dimensional optimally persistent formation

作　　者：罗贺[1,2,3] 李晓多 王国强[1,2,3] LUO He;LI Xiaoduo;WANG Guoqiang(School of Management,Hefei University of Technology,Hefei 230009,China;Key Laboratory of Process Optimization and Intelligent Decision-Making,Ministry of Education,Hefei University of Technology,Hefei 230009,China;Intelligent Interconnected Systems Laboratory of Anhui Province,Hefei University of Technology,Hefei 230009,China)

机构地区：[1]合肥工业大学管理学院,合肥230009 [2]合肥工业大学过程优化与智能决策教育部重点实验室,合肥230009 [3]合肥工业大学智能互联系统安徽省实验室,合肥230009

出　　处：《航空学报》2022年第1期514-531,共18页Acta Aeronautica et Astronautica Sinica

基　　金：国家自然科学基金(71871079,71971075,71671059);装备预研领域基金(61403120404);安徽省自然科学基金(1808085MG213);国家重点研发计划(2019YFE0110300)。

摘　　要：持久编队通信拓扑的优化是在确保多智能体使用持久编队控制方法保持队形的基础上尽量减少智能体之间的通信能耗。现有的方法可以最小化智能体的通信能耗总和,却未考虑均衡智能体间的通信能耗,而这会导致某些智能体提前退出编队。针对这一问题,以最大化队形保持时间为目标,研究了考虑能耗均衡的三维最优持久编队通信拓扑生成方法。首先,设计了一种通信拓扑离线优化机制,即选择一个合适的周期,在编队运动之前计算出每个周期内的通信拓扑,在编队保持队形过程中据此定期调整通信拓扑,从而避免在线计算和发布通信拓扑带来额外的通信能耗;而在离线计算每个周期内的通信拓扑时,先估计出每个周期开始时每个智能体的剩余通信能量,并据此更新网络拓扑中各通信链接的权重,再从更新后的网络拓扑中生成一个三维最优持久图作为本周期内的通信拓扑。其次,针对每个周期内的三维最优持久图生成问题,由于更新后的网络拓扑中的通信链路权重不对称,导致现有算法难以适用,为此提出了一种基于刚度矩阵和弧添加操作的近似求解算法,并从理论上分析了其时间复杂度和证明了其有效性。最后,通过仿真实验结果验证了该方法可以有效降低并均衡各智能体的通信能耗,相比于所有对比方法的平均水平,在节点数为5、10、15的情形下的队形保持时间分别提升了29.5%、59.4%、72.01%。The optimization of communication topology of persistent formation is to minimize the communication energy consumption between agents on the basis of ensuring that the multi-agents use the persistent formation control method to maintain formation.The existing methods can minimize the total communication energy consumption of agents,but do not consider balancing communication energy consumption between agents,which will lead to early withdrawal of some agents from the formation.To solve this problem and maximize the formation keeping time,a communication topology generation method of 3D optimally persistent formation considering energy consumption balance is proposed.First,an offline optimization mechanism of communication topology is designed,including selecting a suitable cycle,calculating the communication topology of each cycle before formation movement,and adjusting the communication topology periodically during the formation keeping process,so as to avoid additional communication energy consumption caused by online calculating and publishing communication topology.When calculating the communication topology of each cycle off-line,the remaining communication energy of each agent at the beginning of each cycle is estimated,the weight of each communication link in the network topology is updated accordingly,and then a 3D optimally persistent graph is generated from the updated network topology as the communication topology in this cycle.Second,for the problem of 3D optimally persistent graph generation in each cycle,it is difficult to apply the existing algorithms due to the asymmetric link weights in the updated network topology.Therefore,an approximate algorithm is proposed based on the rigid matrix and arc adding operation.The time complexity of the algorithm is analyzed and its effectiveness is proved theoretically.Finally,the simulation results show that the proposed method can effectively reduce and balance the communication energy consumption of each agent.Compared with the average level of all the compa

关 键 词：多智能体 最优持久编队 通信拓扑 能耗均衡 刚度矩阵 最优持久图 

分 类 号：V243.1[航空宇航科学与技术—飞行器设计] N945.15[自然科学总论—系统科学]