基于部分三阶邻居信息的一致性算法

严志强; 葛磊; 张跃跃; 窦磊

doi:10.16383/j.aas.c180826

基于部分三阶邻居信息的一致性算法

doi: 10.16383/j.aas.c180826

严志强^1,,
葛磊^1,,
张跃跃^1,,
窦磊^1, ,

1.
南京理工大学瞬态物理国家重点实验室南京 210094

详细信息

作者简介:
严志强南京理工大学硕士研究生.主要研究方向为图像处理, 人工智能. E-mail: yanzq@njust.edu.cn

葛磊南京理工大学硕士研究生.主要研究方向为嵌入式开发, 人工智能. E-mail: gl_njust@njust.edu.cn

张跃跃南京理工大学硕士研究生.主要研究方向为嵌远程网络控制, 人工智能. E-mail: zyy13142021@163.com

通讯作者:
窦磊南京理工大学研究员.主要研究方向为导航, 制导与控制, 人工智能. 本文通信作者. E-mail: douleijs@163.com

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出版历程
- 收稿日期: 2018-12-11
- 录用日期: 2019-02-27
- 刊出日期: 2021-10-13

A Consensus Algorithm Based on Partial Third-order Neighbors' Information

YAN Zhi-Qiang^1
,,
GE Lei^1
,,
ZHANG Yue-Yue^1
,,
DOU Lei^{1
, ,}

1.
State Key Laboratory of Transient Physics, Nanjing University of Science and Technology, Nanjing 210094

More Information

Author Bio:
YAN Zhi-Qiang Master student at Nanjing University of Science and Technology. His research interest covers image processing and artificial intelligence

GE Lei Master student at Nanjing University of Science and Technology. His research interest covers embedded development and artificial intelligence

ZHANG Yue-Yue Master student at Nanjing University of Science and Technology. His research interest covers control of remote network and artificial intelligence

Corresponding author: DOU Lei Professor at Nanjing University of Science and Technology. His research interest covers guidance, navigation and control, and artificial intelligence. Corresponding author of this paper

摘要

摘要: 针对多智能体一致性算法中的通信问题, 提出了一种近邻原则, 即利用部分二阶和部分三阶邻居信息, 在固定无向连通拓扑图的基础上, 应用于三阶多智能体系统.通过MATLAB仿真, 将所提出的算法与经典的三阶一致性算法进行比较, 仿真结果表明该算法能够使系统达到一致, 并且提高了系统的收敛速度, 减少了系统通讯量.
- 三阶多智能体系统 /
- 一致性 /
- 近邻原则 /
- 通信拓扑 /
- 收敛速度 /
- 通信量
Abstract: For the problem of communication in multi-robot consensus algorithm, the nearest neighbors' principle which utilizes a part of second-order and third-order neighbors' information is proposed and applied to third-order multi-robot system basing on fixed, undirected and connected communication topology. We compared the proposed algorithm with the typical third-order consensus algorithm via MATLAB. The simulation result shows that the new algorithms can make the system achieve consensus. Furthermore, the new algorithm improved the speed of convergence and reduced the amount of communication.
- Third-order multi-robot system /
- consensus /
- nearest neighbors' principle /
- communication topology /
- speed of convergence /
- amount of communication
Recommended by Associate Editor ZHU Bing
注释:

1) 本文责任编委诸兵

HTML全文

图 1 TNI一阶与二阶通信拓扑

Fig. 1 TNI first-order and second-order communication topology

下载: 全尺寸图片幻灯片

图 2 TNI三阶通信拓扑

Fig. 2 TNI third-order communication topology

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图 3 PTNI部分三阶通信拓扑

Fig. 3 PTNI part of third-order communication topology

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图 4 PTNI部分二阶通信拓扑

Fig. 4 PTNI part of second-order communication topology

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图 5 TNI仿真图

Fig. 5 Simulated diagrams of TNI

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图 6 PTNI仿真图

Fig. 6 Simulated diagrams of PTNI

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图 7 PPTNI仿真图

Fig. 7 Simulated diagrams of PPTNI

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表 1 收敛速度达到一致的时间(取值误差为1%)

Table 1 Times that the convergence speed achieves consensus

算法	通信线路数量	最小时间(s)	最大时间(s)	平均时间(s)
TNI	35	8.504	10.222	9.381
PTNI	29	8.260	10.015	9.1375
PPTNI	24	8.152	9.959	9.0555

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