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三维最优持久编队拓扑生成策略

王金然 罗小元 杨帆 关新平

王金然, 罗小元, 杨帆, 关新平. 三维最优持久编队拓扑生成策略. 自动化学报, 2015, 41(6): 1123-1130. doi: 10.16383/j.aas.2015.c140474
引用本文: 王金然, 罗小元, 杨帆, 关新平. 三维最优持久编队拓扑生成策略. 自动化学报, 2015, 41(6): 1123-1130. doi: 10.16383/j.aas.2015.c140474
WANG Jin-Ran, LUO Xiao-Yuan, YANG Fan, GUAN Xin-Ping. Generation Strategy of Optimal Persistent Formation Topology in 3D Space. ACTA AUTOMATICA SINICA, 2015, 41(6): 1123-1130. doi: 10.16383/j.aas.2015.c140474
Citation: WANG Jin-Ran, LUO Xiao-Yuan, YANG Fan, GUAN Xin-Ping. Generation Strategy of Optimal Persistent Formation Topology in 3D Space. ACTA AUTOMATICA SINICA, 2015, 41(6): 1123-1130. doi: 10.16383/j.aas.2015.c140474

三维最优持久编队拓扑生成策略

doi: 10.16383/j.aas.2015.c140474
基金项目: 

国家重点基础研究发展计划(973计划) (2010CB731800), 国家自然科学基金(61074065, 61375105), 河北省自然科学基金(F2012203119)资助

详细信息
    作者简介:

    王金然 讲师. 燕山大学电气工程学院控制科学与工程专业博士研究生. 主要研究方向为多智能体刚性编队和持久编队. E-mail: lzx13315666200@126.com

    通讯作者:

    罗小元 燕山大学电气工程学院教授.2005 年于燕山大学获得博士学位. 主要研究方向为多智能体协调控制, 网络系统预测控制. E-mail: xyluo@ysu.edu.cn

Generation Strategy of Optimal Persistent Formation Topology in 3D Space

Funds: 

Supported by National Basic Research Program of China (973 Program) (2010CB731800), National Natural Science Foundation of China (61074065, 61375105), and Nature Science Foundation of Hebei Province (F2012203119)

  • 摘要: 针对智能体间的通信拓扑优化问题, 结合图论知识研究了三维空间中最优持久图的生成算法. 首先,利用刚度矩阵生成最优刚性图;然后,根据顶点连通度数的不同分别采取有向化操作方法, 通过逐层缩小最优刚性图范围的方式把刚性图持久化,生成了最优持久图;最后, 对三维空间中随机分布的智能体进行仿真实验,其结果验证了该算法的可行性和有效性, 此算法能降低编队拓扑的通信复杂度,减少通信能量消耗.
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出版历程
  • 收稿日期:  2014-07-03
  • 修回日期:  2014-10-27
  • 刊出日期:  2015-06-20

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