基于距离及相对角度信息的多智能体系统刚性编队任务规划  

Rigid Formation Task Planning for Multi-Agent Systems Based on Distance and Relative Angle Information

作　　者：黄捷 李俊杰[1,2] Huang Jie;Li Junjie(Faculty of Electrical Engineering and Automation,Fuzhou University,Fuzhou 350108,China;5G+Industrial Internet Research Institute,Fuzhou University,Fuzhou 350108,China)

机构地区：[1]福州大学电气工程与自动化学院,福州350108 [2]福州大学5G+工业互联网研究院,福州350108

出　　处：《航空兵器》2024年第2期79-90,共12页Aero Weaponry

基　　金：航空科学基金项目(2023000144001,2023000144002)。

摘　　要：针对仅在获取多智能体局部距离及相对角度信息条件下如何保持多智能体系统刚性编任务规划队问题,本文提出了两种多智能体刚性编队任务规划方案。首先提出一种基于距离和相对角度的刚性编队规划方案,规划在未知相对位置情况下确保智能体刚性编队。其次利用零空间投影的任务规划方法解决编队任务与避障任务的冲突,确保编队移动过程中编队队形的稳定。再次结合距离和相对角度提出一种整体刚性编队规划方案,并在避障过程中将多智能体系统视为整体进行避障,确保稳定的刚性编队和避障任务的完成。经过仿真验证本文提出的两种方法在弱化相对位置信息的条件下能够较好的保持刚性编队并完成避障任务,对比于依赖相对位置的零空间行为控制方法弱化了对于相对位置信息的依赖。This paper proposes two rigid formation task planning schemes for multi-agent systems to address the problem of maintaining rigid formation task planning under the condition of only obtaining local distance and relative angle information of multi-agent systems.Firstly,a rigid formation planning scheme based on distance and relative angle is proposed to ensure the rigid formation of intelligent agents in unknown relative positions.Secondly,the task planning method of null space projection is used to solve the conflict between formation tasks and obstacle avoidance tasks,ensuring the stability of formation during the movement process.An overall rigid formation planning scheme is proposed that combines distance and relative angle again,and the multi-agent system is considered as a whole for obstacle avoidance during the obstacle avoidance process,ensuring stable rigid formation and the completion of obstacle avoidance tasks.After simulation verification,the two methods proposed in this paper can maintain a rigid formation and complete obstacle avoidance tasks well under the condition of weakening relative position information.Compared with the null space behavior control method that relies on relative position,it weakens the dependence on relative position information.

关 键 词：刚性编队 任务规划 多智能体系统 相对角度信息 距离信息 

分 类 号：TJ760[兵器科学与技术—武器系统与运用工程]