摘要
研究多智能体的编队控制,提出一类多智能体编队相关的新问题-最短编队距离问题。问题针对编队过程中多智能体的行程,旨在寻找一类可行算法使所有智能体的行程和最短。本文分析问题产生的实际背景,提出最短编队距离问题的数学模型,并针对此类问题提出一种基于递归思想的算法。该算法通过遍历问题中的所有可能解集,通过逐一比较得到最优解。最后通过仿真示例结果验证了该算法的可行性。
Research on multi-agent formation control, and a new kind of problem named minimum formation distance problem in multi-agents system is presented. The mathematical model of this problem was proposed base on the analysis of the background of problem occurring. A recursive algorithm was proposed to solve this kind of problems. The algorithm traversaled all the possible solutions, and got optimal result by comparing them. Numerical simulation results show the effectiveness of the presented algorithm.
出处
《中国海洋大学学报（自然科学版）》
CAS
CSCD
北大核心
2012年第12期126-129,共4页
Periodical of Ocean University of China
基金
国家自然科学基金项目(61074092)
山东省自然科学基金项目(ZR2010FM019)
山东省科技发展计划项目(2009GG10008013)资助
关键词
多智能体
编队控制
最短编队距离
递归算法
multi-agents system
formation control
minimum formation distance
recursive algorithm
