基于空间偏心坐标的多机器人系统分布式编队控制。

IF 6.3 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

ISA transactions Pub Date : 2025-01-01 DOI:10.1016/j.isatra.2024.11.040

Fangyuan Li , Jialing Ning , Hui Liu , Yubo Zhang , Yanhong Liu

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引用次数: 0

摘要

多智能体系统的许多应用程序必须在特定的编队中执行某些任务，而并非所有节点都可以访问GPS等定位技术。研究了三维空间中基于节点间距离和锚节点位置的多智能体系统的群体控制问题。用广义空间重心坐标表示所有节点的位置信息，并给出了该重心坐标唯一表示地层形状的条件。然后，基于这种表示方法，提出了一种分布式空间形成算法，将所有智能体从初始位置引导到期望的位置。最后，通过仿真研究验证了所提算法和设计条件的有效性和正确性。

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Spatial barycentric coordinates based distributed formation control for multi-agent systems

Many applications of multi-agent systems have to execute some tasks in certain formations, while not all nodes have access to localization technologies such as GPS. This paper investigates the problem of formation control for multi-agent systems in three-dimensional space relying on distances between nodes and positions of anchor nodes. The position information of all nodes is represented using generalized spatial barycentric coordinates, and the condition that the formation shape can be uniquely represented by the barycentric coordinates is given. Then, based on this representation method, a distributed spatial formation algorithm is proposed to guide all agents from their initial positions towards the desired ones. Finally, simulation studies have been presented to validate the effectiveness and correctness of the proposed algorithm and design conditions.

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来源期刊

ISA transactions 工程技术-工程：综合

CiteScore

11.70

自引率

12.30%

发文量

824

审稿时长

4.4 months

期刊介绍： ISA Transactions serves as a platform for showcasing advancements in measurement and automation, catering to both industrial practitioners and applied researchers. It covers a wide array of topics within measurement, including sensors, signal processing, data analysis, and fault detection, supported by techniques such as artificial intelligence and communication systems. Automation topics encompass control strategies, modelling, system reliability, and maintenance, alongside optimization and human-machine interaction. The journal targets research and development professionals in control systems, process instrumentation, and automation from academia and industry.