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针对多智能体在非矩形有界空间的运动,提出了二阶动态系统的速度一致性算法.传统的有界空间一致性算法只适合矩形有界空间,对于非矩形有界空间不再适用.为了将已有的一致性算法扩展到非矩形空间,引入镜像速度矩阵的概念,它不仅可将不连续的实际速度转化成连续的镜像速度,而且可将有界空间扩展成无限大虚拟空间.运用此算法,发现多智能体在虚拟空间中镜像速度渐近一致.由于每个镜像速度对应唯一的实际空间速度,多智能体实际速度也达到渐近一致.最后,通过理论证明和数值仿真验证了算法的可行性,并且成功地将算法运用到一组实际多机器人系统上.
Aiming at the motion of multi-agent in non-rectangular bounded space, a speed consistency algorithm for second-order dynamic system is proposed. The traditional bounded space consistency algorithm is only suitable for rectangular bounded space and non-rectangular bounded space. In order to extend the existing consistency algorithm to non-rectangular space, we introduce the concept of image velocity matrix, which can not only convert the discontinuous real speed into continuous image speed, but also expand the bounding space into an infinite virtual space. Using this algorithm, it is found that the multi-agent velocity is asymptotically consistent in the virtual space, and the actual velocity of the multi-agent reaches asymptotically consistent with each image velocity corresponding to the only real space velocity.Finally, through theoretical proof and numerical simulation The feasibility of the algorithm and the successful application of the algorithm to a set of real multi-robot systems.