摘要
针对二维空间中减少智能体问通信链路的能量消耗问题,提出了一种基于最优刚性编队的最优持久编队生成算法.算法提出了针对智能体连通度数目的有向化操作方法,通过层层缩减最小刚性图范围的方式生成最优持久图,这种方法能对任意最小刚性图进行持久化,从理论上证明了算法的可操作性.仿真结果验证了算法的有效性.
In order to reduce the energy consumption problem between communication links of agents in a twodimensional space, an algorithm to generate optimally persistent formation based on optimally rigid formation is presented in this paper. According to the number of communication links, a method is presented to make edges be directed edges. An optimally persistent formation is generated by reducing the range of the optimally rigid formation. The proposed method can change arbitrary optimally rigid formation to an optimally persistent formation. The feasibility is proved theoretically. Simulation results are presented to show the effectiveness of the proposed algorithm.
出处
《自动化学报》
EI
CSCD
北大核心
2014年第7期1311-1319,共9页
Acta Automatica Sinica
基金
国家重点基础研究发展计划(973计划)(2010CB731800)
国家自然科学基金(61074065,61375105)
河北省自然科学基金(F2012203119)资助~~
关键词
多智能体
最优刚性编队
最优持久编队
连通度
Multi-agent system
optimally rigid formation
optimally persistent formation
number of communicationlinks
