论文标题
多代理系统的分布式控件通过连接的四边形虚拟管
Distributed Control for a Multi-Agent System to Pass through a Connected Quadrangle Virtual Tube
论文作者
论文摘要
为了在混乱的环境中指导多代理系统，连接的四边形虚拟管均设计供所有代理保持在其内部移动，其基础称为单个梯形虚拟管。管子内部没有障碍物，即管内部的区域可以看作是安全区域。然后，为单个梯形虚拟试管传递问题提出了分布式群体控制器。该问题通过没有局部最小值的梯度向量场方法解决。进行正式的分析和证明是为了表明所有代理都能够通过单梯形虚拟管。最后，为了方便实际使用，提出了一个修改的控制器。对于连接的四边形虚拟管，提出了修改的开关逻辑，以避免僵局并防止代理在虚拟管外移动。最后，通过数值模拟和实际实验来验证所提出方法的有效性。
In order to guide the multi-agent system in a cluttered environment, a connected quadrangle virtual tube is designed for all agents to keep moving within it, whose basis is called the single trapezoid virtual tube. There is no obstacle inside the tube, namely the area inside the tube can be seen as a safety zone. Then, a distributed swarm controller is proposed for the single trapezoid virtual tube passing problem. This issue is resolved by a gradient vector field method with no local minima. Formal analyses and proofs are made to show that all agents are able to pass the single trapezoid virtual tube. Finally, a modified controller is put forward for convenience in practical use. For the connected quadrangle virtual tube, a modified switching logic is proposed to avoid the deadlock and prevent agents from moving outside the virtual tube. Finally, the effectiveness of the proposed method is validated by numerical simulations and real experiments.
