多智能体系统编队控制在输送管道泄漏检测方面的应用

Application of Formation Control of Multi-agent System in Pipeline Leakage Detection

针对多智能体系统,利用刚性控制策略和Leader-Follower多智能体编队控制方法研究其队形形成过程。结果表明:多智能体编队完成后,运动轨迹形成并保持一定的编队队形;当泄漏点发生变化时,智能体能够自动变换Leader进行实时跟踪定位,提高定位效率。

Considering the multi-agent system, adopting the rigid control strategy and the control method of Leader-Follower muhi-agent formation to investigate the multi-agent formation was implemented. The resultsshow that, after the formation of the multi-agent system, the trajectory takes shape and maintains a certain form and when the detected leakage point changes, the agent can automatically transform leader to track and position at real time, and the positioning efficiency can be improved.