多智能体系统的队形控制方法及应用综述

摘要

Survey on the formation control method and application of multi-agent systems is summarized in this paper.The main problem of formation control includes three aspects:formation architecture,formation keeping and formation transformation.Firstly,a variety of formation control methods are deeply analyzed,including several methods:the leader-follower,the behavior based,the virtual structure,the graph theoretic,the dynamic formation,the artificial potential field,the learning control and so on.Secondly,the application of formation controled on multi-agent systems (mobile robots,unmanned aerial vehicles,underwater vehicles) is presented.Thirdly,the research on:the recent multi-dimensions formation control method based on complex Laplacian matrix,the other areas' technology which is used into formation control and multiple mobile robots transportation based on multi-agent systems formation control is introduced.Finally,some unsolved problems need to be investigated in depth are proposed.%多智能体系统队形控制的研究主要集中于队形形成、队形保持和队形变换3个方面;首先,介绍、分析了多种队形控制方法,包括轨迹跟踪法、行动选择法、假想刚体法、网络关系图分析法、动态编队法、虚拟势场法、学习控制法和混合控制法等;其次,对移动机器人、无人机、水下机器人等多智能体系统的队形控制应用进行研究;然后,给出了近年来多智能体系统队形控制的研究进展,包括基于复Laplacian矩阵的多维空间队形控制方法,其它领域技术(云计算、图像处理等)用于队形控制的研究成果,并对基于队形控制的多移动机器人和无人机搬运作了介绍;最后,给出了当前队形控制研究中尚未解决的问题,包括队形扩展,队形稳定性,通信、传感器功能,异构多智能体系统队形控制和机械臂编队等.