[1] Zhu Dezheng, Tian Yuping,. Consensus control for multi-agents in a non-rectangularbounded space: algorithm and experiments [J]. Journal of Southeast University (English Edition), 2015, 31 (1): 74-79. [doi:10.3969/j.issn.1003-7985.2015.01.013]
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Consensus control for multi-agents in a non-rectangularbounded space: algorithm and experiments(
)
多智能体在非矩形有界空间中的一致性控制算法和实验
)Journal of Southeast University (English Edition)[ISSN:1003-7985/CN:32-1325/N]
- Volumn:
- 31
- Issue:
- 2015 1
- Page:
- 74-79
- Research Field:
- Automation
- Publishing date:
- 2015-03-30
Info
- Title:
- Consensus control for multi-agents in a non-rectangularbounded space: algorithm and experiments
- 多智能体在非矩形有界空间中的一致性控制算法和实验
- Author(s):
- Zhu Dezheng; Tian Yuping
- School of Automation, Southeast University, Nanjing 210096, China
- PACS:
- TP242.6
- DOI:
- 10.3969/j.issn.1003-7985.2015.01.013
- Abstract:
- Aiming for the coordinated motion and cooperative control of multi-agents in a non-rectangular bounded space, a velocity consensus algorithm for the agents with double-integrator dynamics is presented. The traditional consensus algorithm for bounded space is only applicable to rectangular bouncing boundaries, not suitable for non-rectangular space. In order to extend the previous consensus algorithm to the non-rectangular space, the concept of mirrored velocity is introduced, which can convert the discontinuous real velocity to continuous mirrored velocity, and expand a bounded space into an infinite space. Using the consensus algorithm, it is found that the mirrored velocities of multi-agents asymptotically converge to the same values. Because each mirrored velocity points to a unique velocity in real space, it can be concluded that the real velocities of multi-agents also asymptotically converge. Finally, the effectiveness of the proposed consensus algorithm is examined by theoretical proof and numerical simulations. Moreover, an experiment is performed with the algorithm in a real multi-robot system successfully.
- 针对多智能体在非矩形有界空间的运动, 提出了二阶动态系统的速度一致性算法.传统的有界空间一致性算法只适合矩形有界空间, 对于非矩形有界空间不再适用.为了将已有的一致性算法扩展到非矩形空间, 引入镜像速度矩阵的概念, 它不仅可将不连续的实际速度转化成连续的镜像速度, 而且可将有界空间扩展成无限大虚拟空间.运用此算法, 发现多智能体在虚拟空间中镜像速度渐近一致.由于每个镜像速度对应唯一的实际空间速度, 多智能体实际速度也达到渐近一致.最后, 通过理论证明和数值仿真验证了算法的可行性, 并且成功地将算法运用到一组实际多机器人系统上.
References:
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Memo
- Memo:
-
Biographies: Zhu Dezheng(1989—), male, graduate; Tian Yuping(corresponding author), male, doctor, professor, yptian@seu.edu.cn.
Foundation items: The National Natural Science Foundation of China(No.61273110), the Specialized Fund for the Doctoral Program of Higher Education(No.20130092130002).
Citation: Zhu Dezheng, Tian Yuping. Consensus control for multi-agents in a non-rectangular bounded space: algorithm and experiments[J].Journal of Southeast University(English Edition), 2015, 31(1):74-79.[doi:10.3969/j.issn.1003-7985.2015.01.013]