Abstract
In the many-to-one pursuit-evasion game, autonomous mobile multi-agents can effectively improve the probability of successful hunting by achieving the cooperative encirclement to the target from multiple directions. To solve the encirclement points deployment, a distributed control protocol is proposed based on finite-time consensus. Firstly, the encirclement points deployment is formulated as the coverage control problem on a circle. The presented distributed control protocol can realize uniform coverage on the circle, i.e., optimal encirclement around the target. Secondly, by introducing the strategy of time-varying feedback gain, the convergence rate of closed-loop system turns into finite-time consensus from asymptotical consensus, such that the efficiency of the deployment is improved greatly. Finally, numerical simulations are carried out to verify the effectiveness of the presented distributed control protocols.
Highlights
Cooperative Hunting Strategy for Multi⁃Mobile Robot Systems Based on Dynamic Hunting Points[ J]
Control Engineering of China, 2019, 26(3) : 510⁃514 ( in Chinese)
Summary
西北工业大学学报 Journal of Northwestern Polytechnical University https: / / doi.org / 10.1051 / jnwpu / 20203861139 摘 要:在多对一的追逃任务中,自主移动多智能体从多个方向实现对目标的协同合围,可以有效提 高成功围捕的概率。 针对其中的合围点协同部署问题,提出了一种基于有限时间一致性的合围点部 署方法。 首先,将合围点部署问题建模为单位圆上的覆盖控制问题,基于多智能体一致性理论提出的 分布式控制协议能实现对单位圆的最优覆盖;通过引入时变可调增益策略,将闭环系统由渐进收敛调 整为有限时间收敛,从而大大提高了合围点部署的效率。 仿真结果表明,提出的分布式控制协议可有 效实现多智能体合围点的快速自部署。 多智能体协同及其目标围捕是当前控制领域的 研究热点之一,并广泛应用于多种无人系统的团队 协作任务中,如多无人机协同侦查[1⁃2] 、多导弹协同 制导[3] 、多无人船协同搜索[4] 、多移动传感网络区 域覆盖[5] 等。 在多对一的追逃任务中,自主移动多 智能体从多个方向实现对目标的协同合围,可以有 效提高成功围捕的概率[4,6] ,因此研究多智能体的 协同合围具有重要的理论意义和广阔的应用前景。 本文首先将合围点的部署问题建模为单位圆上 的覆盖控制问题,然后基于多智能体一致性理论设 计了面向合围点部署的分布式控制协议,实现了合 围点在围捕圈上的均匀自部署。 考虑到现实中的一 些多智能体系统运行时间短( 如多导弹系统)、或者 具有重复运动特性( 如协作搬运多机器人系统) ,一 般都要求在有限时间内快速实现合围点部署;与常 见的采用终端滑模控制实现有限时间收敛的方法不 同,本文受文献[ 11] 中方法的启发,提出了一种针 对离散时间系统的时变可调增益策略,将闭环系统 的收敛特性由渐进收敛调整为给定有限时间收敛, 从而大大提高了合围点部署的效率。
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