多智能体系统对移动放射性辐射源的环绕跟踪

Surrounding Tracking of Mobile Radioactive Radiation Source by Multi-agent Systems

针对多智能体系统对移动放射性辐射源的环绕跟踪问题进行了研究,利用一种全新的方法,证出多智能体系统在有限时间内对移动放射性辐射源群组进行环绕跟踪。通过设计三个不同的分布式估算器分别对辐射源的几何中心、环绕半径以及极角进行估计,最后将得到的估计值为环绕智能体设计分布式控制协议,使得智能体在有限时间内能够将所有辐射源包围在环绕圈内,并实现均匀分布。最后,通过MATLAB仿真验证了控制方案的有效性。

With research on the surrounding tracking of mobile radioactive radiation sources by multiagent systems,it uses a new method to prove that the multi-agent system can control a group of mobile radioactive radiation sources within a limited time.By designing three different distributed estimator,it estimates the geometric center,surrounding radius,and polar angle of the radiation source respectively,and finally takes the estimated value to design a distributed control protocol around the agent,so that the agent can surround all the radiation sources in a limited time and achieve uniform distribution in the surrounding circle.Finally,the effectiveness of the control scheme is verified by MATLAB simulation.