多智能体编队问题的研究

Research on the multi-agents formation

无人机或无人车等装备是军工领域中常见的现代作战装备之一。然而在很多作战环境下单一的无人作战装备难以完成复杂的军事任务,因此提出了多智能体协同作战的理念。多智能体在执行任务时往往需要实现不同的预设编队,进而实现避障、减小雷达反射截面积等任务,因此多智能体编队控制问题便成为需要解决的核心问题。多智能体编队控制问题有固定编队及时变编队等问题,时变编队显然更具有实际的工程意义。多智能体编队分布式控制算法可以有效解决上述问题。本文对基于二阶积分器模型的多智能体系统进行研究,通过设计分布式控制器实现了对多智能体时变编队的控制,并利用数值仿真验证了控制器的有效性。

Equipment such as unmanned aerial vehicles or unmanned vehicles is one of the common modern combat equipment in the military industry.However,in many combat environments,it is difficult for a single unmanned combat equipment to complete complex military tasks,so the concept of multi-agent cooperative combat is proposed.Multi-agents often need to implement different preset formations when performing tasks,so as to achieve obstacle avoidance,reduce radar reflection cross-sectional area and other tasks,so the multi-agent formation control problem has become a core problem that needs to be solved.Multiagent formation control problems include fixed formations and time-varying formations.Time-varying formations obviously have more practical engineering significance.The distributed control algorithm of multi-agent formation can effectively solve the above problems.This paper studies the multi-agent system based on the second-order integrator model.By designing a distributed controller,the control of the time-varying formation of multi-agents is realized,and the effectiveness of the controller is verified by numerical simulation.