An Optimal Control Approach to Flocking
An Optimal Control Approach to Flocking
复制标题
植绒的最佳控制方法
DOI：
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发表时间：
2019
期刊：
影响因子：
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通讯作者：
Andreas A. Malikopoulos
中科院分区：
文献类型：
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作者：
Logan E. Beaver;C. Kroninger;Andreas A. Malikopoulos
在多智能体系统中，群体行为引起了人们的广泛关注。人们主要通过应用人工势场和速度共识相结合的方法来研究群集的结构。然而，这些方法没有考虑群体过程中智能体的能量成本，这在大规模的机器人群中尤其重要。本文介绍了一种最优控制框架来诱导多个智能体的群聚现象。提供了能量最小化和安全性的保证，以及满足最优性条件且可实时实现的分散算法。通过在MatLab和Gazebo上的仿真，验证了该控制算法的有效性。
Flocking behavior has attracted considerable attention in multi-agent systems. The structure of flocking has been predominantly studied through the application of artificial potential fields coupled with velocity consensus. These approaches, however, do not consider the energy cost of the agents during flocking, which is especially important in large-scale robot swarms. This paper introduces an optimal control framework to induce flocking in a group of agents. Guarantees of energy minimization and safety are provided, along with a decentralized algorithm that satisfies the optimality conditions and can be realized in real time. The efficacy of the proposed control algorithm is evaluated through simulation in both MATLAB and Gazebo.