基于拍卖算法的多智能体围捕编队控制  

Multi-agent rounding up formation control based on auction algorithm

作　　者：孙金龙 李大辉[1] 吴鹏 陶伟 陈昂 SUN Jinlong;LI Dahui;WU Peng;TAO Wei;CHEN Ang(School of Computer and Control Engineer,Qiqihar University,Qiqihar 161006,China)

机构地区：[1]齐齐哈尔大学计算机与控制工程学院,黑龙江齐齐哈尔161006

出　　处：《高师理科学刊》2022年第9期26-31,38,共7页Journal of Science of Teachers＇College and University

基　　金：齐齐哈尔大学研究生创新项目(YJSCX2021077)。

摘　　要：随着高新技术的快速发展,多智能体的协同控制成为研究热点.在多智能体协同控制的基础上,设计了多智能体的围捕编队,能够在给定被围捕目标具体位姿信息的情况下,对目标进行围追堵截.使用经典的拍卖算法解决了智能体在围捕队形中的任务分配问题,使各智能体能够以相对较快的时间形成标准的围捕编队队形.此外,还提出运用双向拍卖算法解决队形形成过程中的位置点分配问题,能够以相对较小的代价完成队形的控制,进而完成对目标的围捕.With the rapid development of high and new technology,cooperative control of multi-agents has become a hot topic.Based on the cooperative control of multi-agents,a multi-agent rounding up formation is designed,which can encircle and intercept the target given the specific position and pose of the target being rounded up.The classical auction algorithm is used to solve the task assignment problem of agents in the rounding up formation,so that each agent can form a standard rounding up formation in a relatively fast time.In addition,the bidirectional auction algorithm is also proposed to solve the problem of position allocation in formation process,which can complete formation control with relatively small cost,and then complete the target rounding up.

关 键 词：智能体编队 任务分配 双向拍卖算法 队形控制 

分 类 号：TP242[自动化与计算机技术—检测技术与自动化装置]