Volume 38, Number 6, December 2020
|Page(s)||1139 - 1145|
|Published online||02 February 2021|
Distributed Encirclement Points Deployment of Autonomous Mobile Multi-Agents Based on Finite-Time Consensus
School of Astronautics, Northwestern Polytechnical University, Xi'an 710072, China
In the many-to-one pursuit-evasion game, autonomous mobile multi-agents can effectively improve the probability of successful hunting by achieving the cooperative encirclement to the target from multiple directions. To solve the encirclement points deployment, a distributed control protocol is proposed based on finite-time consensus. Firstly, the encirclement points deployment is formulated as the coverage control problem on a circle. The presented distributed control protocol can realize uniform coverage on the circle, i.e., optimal encirclement around the target. Secondly, by introducing the strategy of time-varying feedback gain, the convergence rate of closed-loop system turns into finite-time consensus from asymptotical consensus, such that the efficiency of the deployment is improved greatly. Finally, numerical simulations are carried out to verify the effectiveness of the presented distributed control protocols.
Key words: multi-agents / cooperative encirclement / finite-time consensus / coverage control
关键字 : 多智能体 / 协同合围 / 有限时间一致性 / 覆盖控制
© 2020 Journal of Northwestern Polytechnical University. All rights reserved.
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