采样信息交互下多智能体分批次分时通行协调控制方法

• Format: Patent
• Language: Chinese
• Published: 23.08.2024
• Subjects: PHYSICS; SIGNALLING; TRAFFIC CONTROL SYSTEMS

本发明公开了采样信息交互下多智能体分批次分时通行协调控制方法，属于多智能体控制领域，包括以下步骤：S1、建立相对运动学模型；S2、估计每个智能体抵达目标点的时间范围；S3、判断多智能体在速度与控制能量受限情形下是否适合作为同一批次；若是则判定多个智能体同批次通过目标点；若否则执行分批次协调分配算法，并将智能体归入不同批次；S4、基于步骤S3获取的分批次结果，为不同批次的智能体分别设计基于采样信息交互的加速度指令，使同批次内多个智能体自主以一定时间间隔分时通过目标点。本发明采用上述采样信息交互下多智能体分批次分时通行协调控制方法，无需为每个智能体指定通过时间，可在线自主实时协调，具有广阔的应用前景。 The invention discloses a multi-agent batch time-sharing passing coordination control method under sampling information interaction, which belongs to the field of multi-agent control and comprises the following steps: S1, establishing a relative kinematics model; s2, estimating the time range of each agent arriving at the target point; s3, judging whether the multiple agents are suitable for serving as the same batch or not under the condition that the speed and the control energy are limited; if yes, it is judged that the multiple agents pass the target point in the same batch; if not, executing a batch coordination allocation algorithm, and classifying the agents into different batches; and S4, based on the ba